CN213990407U - Robot joint is with big moment of torsion brushless motor - Google Patents

Abstract

The utility model relates to a big moment of torsion brushless motor for robot joint, including shell, rear end cap, magnetic ring, magnet, outer support, inner support, gear shaft, stator, coil winding, stator seat, pinion stand, outer ring gear, planetary gear set, planetary gear inner mounting bracket and planetary gear outer mounting bracket in the planet gear, shell rear installation rear end cap, shell internally mounted magnetic ring, inner support center department installation gear shaft, the utility model discloses a when big moment of torsion brushless motor starts work, the stator circular telegram makes the gear shaft rotate, because gear shaft meshing planetary gear set, outer ring gear lock die, each planetary gear in the planetary gear set can take place rotation and revolution, and the planetary gear of revolution drives planetary gear inner mounting bracket and planetary gear outer mounting bracket and rotates, and planetary gear outer mounting bracket goes out power transmission, has the big moment of torsion brushless motor of output, The robot joint has the advantages of large bearing capacity, stable work and the like, and meets the use requirements of the robot joint.

Description

Robot joint is with big moment of torsion brushless motor

Technical Field

The utility model relates to a robot accessory field, concretely relates to robot joint is with big moment of torsion brushless motor.

Background

Along with the development of science and technology progress, the robot is more and more generally used in the work production field, and brushless motor possesses advantages such as low interference, the noise is low, the smooth life-span of operation is long, low maintenance cost owing to saved the brush, so the power source of robot joint department all uses brushless motor, and current robot for the joint brushless motor is direct through gear shaft output power, and its defect lies in that the moment of torsion is little, and joint response speed is slow, can not be well applicable to long-time heavy load work.

SUMMERY OF THE UTILITY MODEL

There is above-mentioned defect to prior art, the utility model provides a robot joint is with big moment of torsion brushless motor, concrete technical scheme as follows:

a large-torque brushless motor for a robot joint comprises a shell, a rear end cover, a magnetic conduction ring, a magnet, an outer support, an inner support, a gear shaft, a stator, a coil winding, a stator seat, a gear seat, an outer gear ring, a planetary gear set, a planetary gear inner mounting frame and a planetary gear outer mounting frame, wherein the rear end cover is installed at the rear part of the shell, the magnetic conduction ring is installed inside the shell, a plurality of magnets are installed on the inner wall of the magnetic conduction ring, the outer support is installed behind the magnetic conduction ring, the inner support is installed inside the outer support, the gear shaft is installed at the center of the inner support, the stator is sleeved inside the magnetic conduction ring, the coil winding is wound on the stator, the stator is installed on the stator seat, the gear seat is installed in front of the stator seat, the outer gear ring is installed inside the gear seat, the outer gear ring is meshed with the planetary gear set, the gear shaft extends into the center of the planetary gear set and is meshed with the planetary gear set, the planetary gear set is rotatably installed in the planetary gear inner mounting frame and the planetary gear outer mounting frame, the front end of the planet gear outer mounting rack extends out of the front of the shell.

As an optimized scheme of the utility model, still include first bearing, second bearing, third bearing, fourth bearing, fifth bearing, first bearing is adorned between rear end cap and inner support, and the second bearing is adorned between inner support and planetary gear inner mounting bracket, and the third bearing is adorned between planetary gear outer mounting bracket and gear shaft, and the fourth bearing is adorned between planetary gear inner mounting bracket and stator seat, and fifth bearing is adorned between planetary gear outer mounting bracket and shell.

As a preferred scheme of the utility model, planetary gear has 3 planetary gear, and planetary gear inner mounting bracket is equipped with 3 branch spacer blocks of arranging around planetary gear inner mounting bracket center pin circumference, forms planetary gear installation cavity between the adjacent branch spacer block, and planetary gear adorns in planetary gear installation cavity, and planetary gear center department suit planetary gear center pin, planetary gear center pin front and back end insert in planetary gear inner mounting bracket, the outer mounting bracket of planetary gear.

As an optimized scheme of the utility model, the outer mounting bracket center department installation shield of planetary gear.

As an optimized proposal of the utility model, the stator is formed by stacking a plurality of silicon steel sheets.

As a preferred scheme of the utility model, still include with stator electric connection's lead wire, the lead wire is drawn forth from the rear end cap.

Has the advantages that: the utility model discloses a big moment of torsion brushless motor start-up during operation, the stator circular telegram makes the gear shaft rotate, because gear shaft meshing planetary gear set, outer ring gear lock dies, rotation and revolution can take place for each planetary gear among the planetary gear set, the planetary gear of revolution drives the interior mounting bracket of planetary gear and planetary gear outer mounting bracket rotates, planetary gear outer mounting bracket goes out power transmission, it is big to have output torque, bearing capacity is big, advantages such as job stabilization, satisfy user demand robot joint user demand.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is an overall exploded view of the present invention;

fig. 3 is an exploded view of the stator, stator holder, gear holder, outer ring gear, planetary gear set of the present invention;

fig. 4 is a front view of the present invention;

FIG. 5 is a sectional view taken along line A-A of FIG. 4;

FIG. 6 is a perspective view of the utility model with the gear set, the planetary gear and the external gear ring;

fig. 7 is a perspective view of the planetary gear set, the planetary gear inner mounting bracket, and the planetary gear outer mounting bracket of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:

in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

As shown in fig. 1 to 5, a large-torque brushless motor for a robot joint includes a housing 1, a rear end cap 2, a magnetic conductive ring 3, a magnet 4, an outer bracket 5, an inner bracket 6, a gear shaft 7, a stator 8, a coil winding, a stator holder 9, a gear holder 10, an outer gear ring 11, a planetary gear set 12, a planetary gear inner mounting bracket 13, and a planetary gear outer mounting bracket 14, wherein the rear end cap 2 is installed at the rear of the housing 1, the magnetic conductive ring 3 is installed inside the housing 1, a plurality of magnets 4 are installed on the inner wall of the magnetic conductive ring 3, the magnets 4 surround the stator 8 in a circumferential array, the outer bracket 5 is installed at the rear of the magnetic conductive ring 3, the inner bracket 6 is installed inside the outer bracket 5, the gear shaft 7 is installed at the center of the inner bracket 6, the stator 8 is sleeved inside the magnetic conductive ring 3, the coil winding is wound around the stator 8, the coil winding is a copper wire in a conventional motor technology, the stator 8 is installed on the stator holder 9, the gear holder 1 is installed in front of the stator holder 9, gear seat 10 internally mounted outer ring gear 11, outer ring gear 11 meshing planetary gear set 12, one section of gear shaft 7 is equipped with the gear profile for another section of face of cylinder, gear shaft 7 that is equipped with one section of gear profile stretches into planetary gear set 12 center department and meshes planetary gear set, planetary gear set rotates and installs in planetary gear internal mounting frame 13 and planetary gear external mounting frame 14, 14 the front ends of planetary gear external mounting frame are stretched out from 1 the place ahead of shell, 14 the front ends of planetary gear external mounting frame are equipped with a plurality of installation screw holes and are convenient for external component to connect and realize power transmission.

As shown in fig. 5, the high-torque brushless motor for the robot joint further includes a first bearing 15, a second bearing 16, a third bearing 17, a fourth bearing 18, and a fifth bearing 19, wherein the first bearing 15 is installed between the rear end cover 2 and the inner bracket 6, the second bearing 16 is installed between the inner bracket 6 and the planet gear inner mounting bracket 13, the third bearing 17 is installed between the planet gear outer mounting bracket 14 and the gear shaft 7, the fourth bearing 18 is installed between the planet gear inner mounting bracket 13 and the stator base 9, the fifth bearing 19 is installed between the planet gear outer mounting bracket 14 and the housing 1, and the first bearing 15, the second bearing 16, the third bearing 17, the fourth bearing 18, and the fifth bearing 19 help guiding to improve rotation stability.

As shown in fig. 5 to 7, the planetary gear set 12 has 3 planetary gears, the planetary gear inner mount 13 has 3 separating blocks 13a arranged around the circumference of the central axis of the planetary gear inner mount 13, a planetary gear mounting chamber 14a is formed between adjacent separating blocks 13a, the planetary gears are mounted in the planetary gear mounting chamber 14, the 3 planetary gears are distributed with 120 degrees adjacent included angles, the planetary gear center 20 is sleeved at the planetary gear center, the front and rear ends of the planetary gear center 20 are inserted into the planetary gear inner mount 13 and the planetary gear outer mount 14, and when the 3 planetary gears rotate and revolve around the gear shaft 7, the planetary gears drive the planetary gear inner mount 13 and the planetary gear outer mount 14 to rotate, thereby outputting power.

Specifically, 14 centers of outer mounting bracket of planetary gear department installation shield 21, shield 21 prevent that the dust foreign matter from getting into the inside motor that pollutes of motor from the outer mounting bracket of planetary gear 14 front end, and stator 8 is formed by polylith silicon steel sheet closed assembly, and in addition, the motor still includes with stator 8 electric connection's lead wire 22, lead wire 22 draws forth the convenience from rear end cap 2 and supplies power for the stator.

The above description is provided for the purpose of describing the present invention in more detail with reference to the preferred embodiments, and it should not be construed that the present invention is limited to these descriptions, and it will be apparent to those skilled in the art that the present invention can be implemented in many ways without departing from the spirit and scope of the present invention.

Claims (6)

1. The utility model provides a robot joint is with big moment of torsion brushless motor which characterized in that: comprises a shell, a rear end cover, a magnetic conduction ring, a magnet, an outer bracket, an inner bracket, a gear shaft, a stator, a coil winding, a stator seat, a gear seat, an outer gear ring, a planetary gear set, a planetary gear inner mounting rack and a planetary gear outer mounting rack, the rear end cover is installed at the rear of the shell, the magnetic conduction ring is installed inside the shell, a plurality of magnets are installed on the inner wall of the magnetic conduction ring, the outer support is installed at the rear of the magnetic conduction ring, the inner support is installed inside the outer support, a gear shaft is installed at the center of the inner support, the stator is sleeved inside the magnetic conduction ring, the stator is wound by a coil winding, the stator is installed on the stator seat, a gear seat is installed in the front of the stator seat, an outer gear ring is installed inside the gear seat, the outer gear ring is meshed with the planetary gear set, the gear shaft extends into the center of the planetary gear set and is meshed with the planetary gear set, the planetary gear set is rotatably installed in the planetary gear inner installation frame and the planetary gear outer installation frame, and the front end of the planetary gear outer installation frame extends out of the front of the shell.

2. The high-torque brushless motor for the robot joint according to claim 1, wherein: the first bearing is arranged between the rear end cover and the inner support, the second bearing is arranged between the inner support and the planet gear inner mounting frame, the third bearing is arranged between the planet gear outer mounting frame and the gear shaft, the fourth bearing is arranged between the planet gear inner mounting frame and the stator seat, and the fifth bearing is arranged between the planet gear outer mounting frame and the shell.

3. The high-torque brushless motor for the robot joint according to claim 1, wherein: the planetary gear set is provided with 3 planetary gears, the planetary gear inner mounting rack is provided with 3 separating blocks which are circumferentially arranged around a central shaft of the planetary gear inner mounting rack, a planetary gear mounting cavity is formed between every two adjacent separating blocks, the planetary gears are mounted in the planetary gear mounting cavity, a planetary gear central shaft is sleeved at the center of each planetary gear, and the front end and the rear end of each planetary gear central shaft are inserted into the planetary gear inner mounting rack and the planetary gear outer mounting rack.

4. The high-torque brushless motor for the robot joint according to claim 3, wherein: and a dustproof cover is arranged at the center of the outer mounting rack of the planetary gear.

5. The high-torque brushless motor for the robot joint according to claim 1, wherein: the stator is formed by stacking a plurality of silicon steel sheets.

6. The high-torque brushless motor for the robot joint according to claim 1, wherein: the stator is characterized by further comprising a lead wire electrically connected with the stator, and the lead wire is led out from the rear end cover.

Images