CN211456904U

CN211456904U - Use external rotor electric machine and robot arm on robot arm

Info

Publication number: CN211456904U
Application number: CN201922482811.0U
Authority: CN
Inventors: 郭安才; 刘威力; 何衍青; 邹冬华
Original assignee: Zhuhai Hengliyuan Dynamo Electric Co ltd
Current assignee: Zhuhai Hengliyuan Dynamo Electric Co ltd
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-09-08
Anticipated expiration: 2029-12-30

Abstract

The invention discloses an outer rotor motor applied to a robot arm and the robot arm. By adopting the structure that the speed reduction group is arranged in the outer rotor motor, the output rotating speed of the rotor group is reduced, simultaneously, the optimization of the inner space is realized, the lightness and the thinness of the motor are realized, and the structure is convenient to be applied to the fields with high requirements on size and structure, such as robot arms, joint parts and the like.

Description

Use external rotor electric machine and robot arm on robot arm

[ technical field ] A method for producing a semiconductor device

The application relates to the technical field of motor manufacturing, in particular to an outer rotor motor applied to a robot arm and the robot arm.

[ background of the invention ]

With the rapid development of the IC, semiconductor, and 3C industries, modern automation factories are continuously upgraded, industrial robots will be more widely applied in various fields of the manufacturing industry, and the requirements for robots in the field of precision assembly are higher and higher.

The existing outer rotor motor applied to a machine arm is usually connected with a reduction box at the output end of the outer rotor motor so as to achieve the purpose of reducing the transmission and increasing the torque. By adopting the structure that the reduction gearbox is additionally arranged at the output end of the outer rotor motor, the space of the mechanical arm is undoubtedly occupied, and the optimization utilization of the space of the robot arm is not facilitated.

[ summary of the invention ]

The invention aims at solving the problems of large volume and space occupation of the outer rotor motor on the robot arm in the prior art, and provides the outer rotor motor applied to the robot arm.

In order to solve the technical problem, the outer rotor motor applied to the robot arm comprises a shell, wherein a stator set is arranged in the shell, a rotor set is arranged on the outer side of the stator set, a speed reduction set which is in transmission connection with the rotor set and used for reducing the rotating speed of the rotor set is arranged on the inner side of the stator set, and the speed reduction set comprises a planetary speed reduction set and an output set, one end of the planetary speed reduction set is in transmission connection with the rotor set, and the output set is in transmission connection with the planetary speed reduction set.

As an improvement of the above external rotor motor applied to the robot arm, the housing includes an upper housing and a lower housing covering the upper housing, the lower housing includes a first annular groove and a first mounting through hole formed by the first annular groove, and a speed reduction unit is disposed in the first mounting through hole.

As an improvement of the above external rotor motor applied to the robot arm, the planetary reduction set includes a sun gear, an internal gear and a planetary gear engaged between the sun gear and the internal gear, the sun gear is in transmission connection with the rotor set; the output group comprises an output flange which is arranged at one end of the planetary gear, which is far away from the rotor group, and rotates along with the planetary gear, and a planetary gear retainer which is arranged at one end of the planetary gear, which is close to the rotor group, and rotates along with the planetary gear, and the planetary gear retainer is connected to the output flange.

As an improvement of the above external rotor motor applied to the robot arm, the external rotor motor comprises a fixing mechanism for fixing the internal gear, the fixing mechanism comprises a fixing through hole and a fixing column arranged in the fixing through hole, the fixing through hole comprises a first semicircle arranged on the internal gear and a second semicircle arranged on the first annular groove and forming a round hole with the first semicircle for the fixing column to pass through, and the fixing through holes are uniformly distributed along the circumferential direction outside the internal gear.

As an improvement of the outer rotor motor applied to the robot arm, the rotor set includes a magnetic yoke and magnets uniformly distributed along the inner circumference of the magnetic yoke, a rotor cover is covered on the magnetic yoke, a second annular groove 34 is formed at one end of the rotor cover close to the upper shell, and an induction magnet 35 is arranged in the second annular groove 34; the stator group comprises a motor iron core, and a stator cover is arranged on the motor iron core; the magnet yoke, the magnet and the motor iron core are arranged in the first annular groove.

The improvement of the external rotor motor applied to the robot arm comprises a positioning mechanism for positioning the stop position of the motor, wherein the positioning mechanism comprises a positioning disc arranged on the stator cover and a pointer arranged on the output flange; a gasket 6 is arranged between the planetary gear and the output flange and the planetary gear holder 422.

As an improvement of the external rotor motor applied to the robot arm, the housing is provided with a protrusion along an outer circumferential direction, and the protrusion is provided with a second mounting through hole for a screw to pass through along an axis direction of the housing.

As an improvement of the external rotor motor applied to the robot arm, a hall circuit board for positioning the rotation position of the external rotor motor is arranged on the first annular groove.

As an improvement of the above external rotor motor applied to the robot arm, the external rotor motor comprises a wire mechanism, wherein the wire mechanism comprises wire through holes arranged on the upper shell and the lower shell and a wire groove arranged between the wire through holes.

The invention aims at solving the technical problems that an outer rotor motor on a robot arm in the prior art is large in size and occupies space, and provides the robot arm.

A robot arm comprises the outer rotor motor applied to the robot arm.

Compared with the prior art, the invention has the following advantages:

the invention provides an outer rotor motor applied to a robot arm, which comprises a shell, wherein a stator set and a rotor set arranged on the outer side of the stator set are arranged in the shell, and a speed reduction set which is in transmission connection with the rotor set and is used for reducing the rotating speed of the rotor set is arranged on the inner side of the stator set. By adopting the structure that the speed reduction group is arranged in the outer rotor motor, the output rotating speed of the rotor group is reduced, simultaneously, the optimization of the inner space is realized, the lightness and the thinness of the motor are realized, and the structure is convenient to be applied to the fields with high requirements on size and structure, such as robot arms, joint parts and the like.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below.

Fig. 1 is a perspective view of an outer rotor motor applied to a robot arm according to the present application;

FIG. 2 is an exploded view of an outer rotor motor as applied to a robot arm;

FIG. 3 is an exploded view of an outer rotor motor as applied to a robot arm;

FIG. 4 is an exploded view of an outer rotor motor as applied to a robot arm;

FIG. 5 is a cross-sectional view of an outer rotor motor as applied to a robot arm;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

FIG. 7 is an exploded view of the rotor set of the present application;

FIG. 8 is a schematic view of a positioning mechanism of the present application;

fig. 9 is a perspective view of the present planetary gear.

[ detailed description ] embodiments

In order to make the technical problems, technical solutions and advantageous effects solved by the present application more clear and obvious, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

As can be known from the external rotor motor applied to the robot arm shown in fig. 1-3, the external rotor motor includes a housing 1, a stator set 2 is disposed in the housing 1, a rotor set 3 is disposed outside the stator set, a speed reduction set 4 which is in transmission connection with the rotor set 3 and is used for reducing the rotation speed of the rotor set 3 is disposed inside the stator set 2, and the speed reduction set 4 includes a planetary speed reduction set 41 with one end in transmission connection with the rotor set 3 and an output set 42 which is in transmission connection with the planetary speed reduction set 41. In the working process of the external rotor motor, the stator group 2 is fixed, and the magnetic field of the stator group 2 is changed through an external circuit, so that the rotor group 3 is driven to rotate around the stator group 2. The larger the rotational speed output from the rotor set 2, the smaller the torque output, and in order to obtain a larger torque, the output rotational speed of the rotor set 2 is reduced. In order to achieve the purpose of reducing the output rotating speed, the conventional outer rotor motor adopts a structure that a speed reduction set is arranged at the output end of the rotor set 2, but the structure increases the overall size of the outer rotor motor, and is not beneficial to the application of the outer rotor motor in the field with high requirement on size structure. The application skillfully utilizes the inner space of the outer rotor motor, the speed reduction set is arranged in the inner side of the stator set 2, the whole size of the outer rotor motor is optimized while the output rotating speed of the rotor set 3 is reduced, the light and thin outer rotor motor is realized, and the strict requirement of a robot arm on the size is met.

As can be known from the external rotor motor applied to the robot arm shown in fig. 1-3, further, the housing 1 includes an upper housing 11 and a lower housing 12 covering the upper housing 11, the lower housing 12 includes a first annular groove 121 and a first installation through hole 122 formed by the first annular groove 121, and the deceleration set 4 is disposed in the first installation through hole 122. A specific embodiment of the external rotor motor is shown in the figure, and it can be seen that the lower housing 11 is in the shape of a first annular groove, the speed reduction group 4 is placed in a first installation through hole 122 formed in the first annular groove 121, and the stator group 2 and the rotor group 3 are disposed in the first annular groove 121. With this structure, the speed reduction group 4 is further separated from the stator group 2 and the rotor group 3, and the structure is simple and precise.

As can be known from the external rotor motor applied to the robot arm shown in fig. 4, further, the planetary reduction set 41 includes a sun gear 411, an internal gear 413 and a planetary gear 412 engaged between the sun gear 411 and the internal gear 413, the sun gear 411 is in transmission connection with the rotor set 3; the output set 42 includes an output flange 421 disposed at an end of the planetary gear 412 away from the rotor set 3 and rotating with the planetary gear 412, and a planetary gear holder 422 disposed at an end of the planetary gear 412 close to the rotor set 3 and rotating with the planetary gear 412, the planetary gear holder 422 being connected to the output flange 421. A specific embodiment of the planetary reduction unit 41 is shown, and it can be seen that the internal gear 413 is internal, the sun gear 411 and the planetary gears 412 are external, and the sun gear 411 drives the planetary gears 412 to transmit along the internal gear 413 when rotating. With this structure, the purpose of reducing the output rotation speed of the rotor group 3 can be achieved. The reduction ratio of the planetary reduction set 41 is 1: 6.43. A specific embodiment of the output group 42 is shown in the figure, and it can be seen that the output group 42 includes an output flange 421 and a planetary gear holder 422 covering the output flange 421, and the output flange 421 and the planetary gear holder 422 form a cavity for placing the planetary reduction group 41, and with this structure, the fixing and supporting of the planetary reduction group 41 can be realized; the two sides of the planetary gear 412 are respectively connected with the output flange 421 and the planetary gear holder 422, the output flange 421 and the planetary gear holder 422 rotate along with the planetary gear 412, and by adopting the structure, the output after speed reduction is realized through the output flange 421.

As can be known from the external rotor motor applied to the robot arm shown in fig. 5-6, further, a fixing mechanism 5 for fixing the internal gear 413 is included, the fixing mechanism 5 includes a fixing through hole 51 and a fixing post 52 disposed in the fixing through hole 51, the fixing through hole 51 includes a first semicircle 511 disposed on the internal gear 413 and a second semicircle 512 disposed on the first annular groove 121 and forming a circular hole with the first semicircle 511 for the fixing post 52 to pass through, and the fixing through holes 51 are uniformly distributed along the outer circumferential direction of the internal gear 413. The drawing shows a modification of the external rotor motor, and it can be seen that the fixing mechanism 5 is provided on the internal gear 413 and the first annular groove 121, and with this structure, the stability of the internal gear 413 can be increased, and the internal gear 413 is prevented from moving when the planetary gear 412 drives along the internal gear 413.

As can be known from the external rotor motor applied to the robot arm shown in fig. 4 and 7, further, the rotor assembly 3 includes a magnetic yoke 31 and magnets 32 uniformly distributed along the inner circumference of the magnetic yoke 31, and a rotor cover 33 covers the magnetic yoke 31; a second annular groove is formed in one end, close to the upper shell 11, of the rotor cover 33, and an induction magnet is arranged in the second annular groove; the stator group 2 comprises a motor iron core 21, and a stator cover 22 is arranged on the motor iron core 21; the yoke 31, the magnet 32, and the motor core 21 are disposed in the first annular groove 121. The figure shows a specific embodiment of the above rotor assembly 3 and stator assembly 2, and with such a structure that one end of the rotor cover 33 close to the upper shell 11 is provided with a second annular groove, and the second annular groove is provided with an induction magnet, the rotor assembly 3 can be driven to rotate by changing the current direction of an external circuit, so as to realize the power input of the external rotor motor. With such a structure that the yoke 31, the magnet 32, and the motor core 21 are disposed in the first annular groove 121, space optimization is facilitated.

As can be known from the external rotor motor applied to the robot arm shown in fig. 8, further, a positioning mechanism 13 for positioning a motor stop position is included, and the positioning mechanism 13 includes a positioning plate 131 provided on the stator cover 22 and a pointer 132 provided on the output flange 421. By adopting the structure, the stop position of the motor can be visually observed and controlled, and the accuracy is favorably improved.

As can be seen from the outer rotor motor applied to the robot arm shown in fig. 8, further, a spacer is provided between the planetary gear 412 and the output flange 421 and the planetary gear holder 422. By adopting the structure, the friction force generated when the planetary gear holder 422 and the output flange 421 rotate along with the planetary gear 412 is reduced, the mechanical abrasion is reduced, and the service life is prolonged.

As can be known from the external rotor motor applied to the robot arm shown in fig. 1, further, the housing 1 is provided with a protrusion 7 along an outer circumferential direction, and the protrusion 7 is provided with a second mounting through hole 8 for a screw to pass through along an axial direction of the housing 1. The figure shows a modified scheme of the external rotor motor, as can be seen from the figure, a protrusion 7 is arranged on the housing 1, a second mounting through hole 8 is arranged on the protrusion 7 along the axial direction of the housing 1, and by adopting the structure, a screw penetrates through the second mounting through hole 8 to assemble the upper housing 11 and the lower housing 12, and the structure increases the contact area of the screw, so that the connection is firmer and firmer. The method is superior to the method for fixing the outer rotor motor by inserting the screw into the vertical shell. Meanwhile, by adopting the structure, the outer rotor motor is in a gear shape, so that the appearance is more industrialized and more attractive.

As can be known from the external rotor motor applied to the robot arm shown in fig. 2, further, the hall circuit board 9 for positioning the rotation position of the external rotor motor is disposed on the first annular groove 121. By adopting the structure, the rotation of the outer rotor motor is better controlled, and the accuracy is improved.

As can be known from the external rotor motor applied to the robot arm shown in fig. 3, further, the external rotor motor comprises a wire mechanism 10, wherein the wire mechanism 10 comprises wire through holes 101 disposed on the upper shell 11 and the lower shell 12 and a wire groove 102 disposed between the wire through holes 101. A modified version of the external rotor motor is shown in the figure, and it can be seen from the figure that the wire groove 102 is clamped on the upper shell 11 and the lower shell 12 and covers the wire through hole 101, and the wire groove 102 is located between two adjacent protrusions 7. By adopting the structure, the guide of the electric wire on the motor is favorably realized, the integral structure is more compact, and the spatial distribution is more reasonable.

A robot arm comprises the outer rotor motor applied to the robot arm. By adopting the structure, the robot arm has more compact and accurate structure.

The working principle of the outer rotor motor applied to the robot arm in the scheme of the invention is as follows:

the invention provides an outer rotor motor applied to a robot arm, which comprises a shell, wherein a stator set and a rotor set arranged on the outer side of the stator set are arranged in the shell, and a speed reduction set which is in transmission connection with the rotor set and is used for reducing the rotating speed of the rotor set is arranged on the inner side of the stator set. The stator set changes a magnetic field through an external power supply to drive the rotor set to rotate around the stator set, and the output rotating speed of the rotor set is reduced through a speed reduction set which is arranged on the inner side of the stator set and is in transmission connection with the rotor set, so that the purpose of improving torque is achieved. By adopting the structure that the speed reduction group is arranged in the outer rotor motor, the output rotating speed of the rotor group is reduced, simultaneously, the optimization of the inner space is realized, the lightness and the thinness of the motor are realized, and the structure is convenient to be applied to the fields with high requirements on size and structure, such as robot arms, joint parts and the like.

The foregoing is illustrative of one or more embodiments provided in connection with the detailed description and is not intended to limit the disclosure to the particular forms disclosed. Similar or identical methods, structures, etc. as used herein, or several technical inferences or substitutions made on the concept of the present application should be considered as the scope of the present application.

Claims

1. The outer rotor motor applied to the robot arm comprises a shell (1), wherein a stator set (2) is arranged in the shell (1), a rotor set (3) is arranged on the outer side of the stator set, and the outer side of the stator set is characterized in that a speed reduction set (4) which is in transmission connection with the rotor set (3) and used for reducing the rotating speed of the rotor set (3) is arranged on the inner side of the stator set (2), the speed reduction set (4) comprises a planetary speed reduction set (41) and an output set (42), one end of the planetary speed reduction set (41) is in transmission connection with the rotor set (3), and the output set (42) is in transmission connection with the.

2. The external rotor motor applied to a robot arm according to claim 1, wherein the housing (1) comprises an upper housing (11) and a lower housing (12) covering the upper housing (11), the lower housing (12) comprises a first annular groove (121) and a first mounting through hole (122) formed by the first annular groove (121), and a speed reduction set (4) is arranged in the first mounting through hole (122).

3. An external rotor electric machine for application on a robot arm according to claim 2, characterized in that the planetary reduction set (41) comprises a sun gear (411), an internal gear (413) and planetary gears (412) engaged between the sun gear (411) and the internal gear (413), the sun gear (411) being in driving connection with the rotor set (3); the output group (42) comprises an output flange (421) which is arranged at one end of the planetary gear (412) far away from the rotor group (3) and rotates along with the planetary gear (412), and a planetary gear retainer (422) which is arranged at one end of the planetary gear (412) near the rotor group (3) and rotates along with the planetary gear (412), wherein the planetary gear retainer (422) is connected to the output flange (421).

4. The external rotor motor applied to the robot arm according to claim 3, comprising a fixing mechanism (5) for fixing the internal gear (413), wherein the fixing mechanism (5) comprises a fixing through hole (51) and a fixing column (52) arranged in the fixing through hole (51), the fixing through hole (51) comprises a first semicircle (511) arranged on the internal gear (413) and a second semicircle (512) arranged on the first annular groove (121) and forming a circular hole with the first semicircle (511) for the fixing column (52) to pass through, and the fixing through holes (51) are uniformly distributed along the outer circumferential direction of the internal gear (413).

5. The external rotor motor applied to a robot arm according to claim 3, wherein the rotor set (3) comprises a magnetic yoke (31) and magnets (32) uniformly distributed along the inner circumference of the magnetic yoke (31), a rotor cover (33) is covered on the magnetic yoke (31), a second annular groove (34) is formed at one end of the rotor cover (33) close to the upper shell (11), and an induction magnet (35) is arranged in the second annular groove (34); the stator group (2) comprises a motor iron core (21), and a stator cover (22) is arranged on the motor iron core (21); the yoke (31), the magnet (32) and the motor core (21) are disposed in the first annular groove (121).

6. The external rotor motor applied to the robot arm according to claim 5, comprising a positioning mechanism (13) for positioning a motor stop position, wherein the positioning mechanism (13) comprises a positioning disc (131) arranged on the stator cover (22) and a pointer (132) arranged on the output flange (421); and a gasket (6) is arranged between the planetary gear (412) and the output flange (421) and the planetary gear holder 422.

7. The external rotor electric machine for robot arm application of claim 2, wherein the housing (1) is provided with a protrusion (7) along the outer circumferential direction, and the protrusion (7) is provided with a second mounting through hole (8) for passing a screw along the axial direction of the housing (1).

8. The external rotor motor applied to the robot arm as claimed in claim 2, wherein the first annular groove (121) is provided with a hall circuit board (9) for positioning the rotation position of the external rotor motor.

9. The external rotor electric machine for robot arm application according to claim 2, characterized by comprising a wire mechanism (10), wherein the wire mechanism (10) comprises wire through holes (101) provided on the upper and lower housings (11, 12) and wire grooves (102) provided between the wire through holes (101).

10. A robot arm, characterized in that it comprises an external rotor motor as claimed in any of claims 1-9, applied to a robot arm.