CN215817705U - Rotor support, rotor, motor and foot type robot - Google Patents
Rotor support, rotor, motor and foot type robot Download PDFInfo
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- CN215817705U CN215817705U CN202121710811.2U CN202121710811U CN215817705U CN 215817705 U CN215817705 U CN 215817705U CN 202121710811 U CN202121710811 U CN 202121710811U CN 215817705 U CN215817705 U CN 215817705U
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- rotor
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- support ring
- ring
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Abstract
The utility model discloses a rotor support, a rotor, a motor and a foot type robot. The rotor support disclosed by the utility model has the advantages of convenience in assembly and high assembly precision.
Description
Technical Field
The utility model relates to the technical field of motors, in particular to a rotor bracket, a rotor, a motor and a foot type robot.
Background
Servo motors are widely used in robots, machine tools, and other devices as high-precision power output devices. The rotor of the servo motor generally comprises a rotor bracket, and a magnetic ring, a magnetic steel bracket and magnetic steel which are arranged on the rotor bracket. The rotor in the related art has disadvantages of difficulty in assembly, low efficiency, and low assembly accuracy.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the utility model provides the rotor support, and the rotor support enables the rotor to have the advantages of convenience in assembly and high assembly precision.
The embodiment of the utility model also provides the rotor.
The embodiment of the utility model also provides the motor.
The embodiment of the utility model further provides a legged robot.
The rotor support comprises a shaft connecting support and a support ring, wherein the support ring is used for being connected with a magnetic conduction ring, the support ring is coaxially arranged on the periphery of the shaft connecting support, and the support ring is detachably connected with the shaft connecting support.
According to the rotor support provided by the embodiment of the utility model, the support ring is detachably connected with the shaft connecting support, the magnetic conductive ring, the magnetic steel support and the magnetic steel can be assembled on the support ring, and then the support ring is connected with the shaft connecting support, so that the assembly of the rotor support is realized. The supporting ring is more convenient to position than the whole rotor support, the magnetic conductive ring, the magnetic steel support and the magnetic steel are assembled on the supporting ring conveniently, the coaxiality of the magnetic conductive ring, the magnetic steel support and the supporting ring after assembly can be guaranteed, the rotor support is more convenient to assemble, the efficiency is higher, and the assembly precision is higher.
In some embodiments, the shaft connecting bracket is an interference fit with the support ring.
In some embodiments, one of the outer side wall of the shaft connecting bracket and the inner side wall of the support ring is provided with a stepped hole, and the other of the outer side wall of the shaft connecting bracket and the inner side wall of the support ring is provided with a limit flange, which is fitted in the stepped hole.
In some embodiments, the limiting flange is arranged on the outer side wall of the shaft connecting bracket, the stepped hole is arranged on the inner side wall of the support ring, and the limiting flange is in interference fit with the stepped hole.
In some embodiments, the support ring is in interference fit with the magnetic conductive ring, the first end surface of the support ring is coplanar with the first end surface of the magnetic conductive ring, and the stepped hole is formed at the first end of the support ring.
In some embodiments, the first end surface of the shaft connecting bracket is in smooth connection with the first end surface of the support ring, and the second end surface of the shaft connecting bracket is in smooth connection with the second end surface of the support ring.
In some embodiments, one of the inner side wall of the support ring and the outer side wall of the shaft connecting bracket is provided with a rotation stopping protrusion, the other of the inner side wall of the support ring and the outer side wall of the shaft connecting bracket is provided with a rotation stopping groove, the shaft connecting bracket is in plug-in fit with the support ring, and the rotation stopping protrusion is fitted in the rotation stopping groove.
The rotor according to the embodiment of the utility model comprises a rotor bracket, a magnetic ring, a magnetic steel bracket and a plurality of magnetic steels, wherein the rotor bracket is the rotor bracket according to any one of the embodiments; the magnetic conduction ring is in interference fit with the support ring of the rotor bracket; the magnetic steel bracket is in interference fit with the magnetic conductive ring and abuts against the support ring; and a plurality of magnetic steels are arranged on the magnetic steel bracket.
According to the rotor provided by the embodiment of the utility model, the rotor bracket provided by the embodiment is adopted, so that the advantages of convenience in assembly and high assembly precision are achieved.
In some embodiments, the magnetic steel bracket has a plurality of mounting grooves, the mounting grooves correspond to the plurality of magnetic steels one by one, the magnetic steels are fitted in the corresponding mounting grooves, and the magnetic steels are bonded with the magnetic conductive rings.
The motor comprises a shell, a stator, a rotor and a planetary reduction mechanism, wherein the stator is arranged in the shell; the rotor is the rotor as in any one of the above embodiments, and the rotor is pivotable relative to the stator; the planetary reduction mechanism comprises a sun wheel, an inner gear ring, a planet wheel and a planet carrier, the sun wheel is coaxially connected with the shaft connecting support of the rotor, the inner gear ring is connected with the machine shell, the planet wheel is meshed with the sun wheel and the inner gear ring, and the planet wheel is pivotally connected with the planet carrier through a planet shaft.
The motor provided by the embodiment of the utility model has the advantages of convenience in assembly and high assembly precision by adopting the rotor of the embodiment.
The legged robot according to the embodiment of the utility model comprises a body component and a plurality of leg components, wherein the plurality of leg components are connected with the body component, and the body component and/or the leg components are/is provided with a motor, wherein the motor is the motor according to the embodiment.
The foot robot provided by the embodiment of the utility model has the advantages of convenience in assembly and high assembly precision by adopting the motor of the embodiment.
In some embodiments, the motor is disposed on the trunk assembly, the leg assembly includes a thigh, the trunk assembly and the thigh are connected by the motor, and the motor is configured to drive the thigh to swing.
In some embodiments, the leg assembly is provided with the motor, the leg assembly further comprises a lower leg, the upper leg is connected with the lower leg through the motor, and the motor is used for driving the lower leg to swing.
Drawings
FIG. 1 is a schematic view of a rotor according to an embodiment of the utility model.
FIG. 2 is another schematic view of a rotor according to an embodiment of the present invention, wherein the shaft connecting bracket is not included.
Fig. 3 is a cross-sectional view of a rotor according to an embodiment of the present invention.
FIG. 4 is a schematic view of a rotor support according to an embodiment of the utility model.
Fig. 5 is a cross-sectional view of a rotor spider according to an embodiment of the present invention.
Fig. 6 is an exploded view of a rotor spider according to an embodiment of the present invention.
Fig. 7 is a schematic view of a legged robot in accordance with an embodiment of the present invention.
Reference numerals:
the number of the rotor 100, the legged robot 200,
the body component comprises a rotor bracket 1, a shaft connecting bracket 11, a limiting flange 111, a support ring 12, a stepped hole 121, a magnetic conduction ring 2, a magnetic steel bracket 3, magnetic steel 4, a leg component 5, a thigh 51, a shank 52 and a body component 6.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
The rotor frame 1, the rotor 100 and the motor according to the embodiment of the present invention will be described with reference to fig. 1 to 6.
As shown in fig. 3 to 6, the rotor holder 1 according to the embodiment of the present invention includes a shaft connecting holder 11 and a support ring 12. The shaft connecting support 11 is used for being coaxially connected with a sun gear of the planetary reduction mechanism, and the support ring 12 is used for being connected with the magnetic conduction ring 2. The support ring 12 is coaxially arranged on the periphery of the shaft connecting support 11, and the support ring 12 is detachably connected with the shaft connecting support 11.
According to the rotor bracket 1 provided by the embodiment of the utility model, the support ring 12 is detachably connected with the shaft connecting bracket 11, the magnetic conductive ring 2, the magnetic steel bracket 3 and the magnetic steel 4 can be assembled on the support ring 12, and then the support ring 12 is connected with the shaft connecting bracket 11, so that the assembly of the rotor bracket 1 is realized. Wherein, the support ring 12 compares in holistic rotor support 1 and is more convenient for the location, makes things convenient for magnetic ring 2, magnet steel bracket 3 and magnet steel 4 to assemble to support ring 12 from this, and can guarantee the axiality of magnetic ring 2, magnet steel bracket 3 and support ring 12 after the assembly, and rotor support 1's assembly is more convenient, efficiency is higher, and the assembly precision is higher.
In some embodiments, the shaft connecting bracket 11 is an interference fit with the support ring 12.
Specifically, after the magnetic conductive ring 2, the magnetic steel bracket 3 and the magnetic steel 4 are assembled on the support ring 12, the support ring 12 is in interference fit on the shaft connecting bracket 11. That is, no additional connecting piece is required for connecting the shaft connecting support 11 and the support ring 12, so that the assembly efficiency of the rotor support 1 is further improved while the shaft connecting support 11 and the support ring 12 are effectively fixed.
In some embodiments, as shown in fig. 5 and 6, one of the outer side wall of the shaft connecting bracket 11 and the inner side wall of the support ring 12 is provided with a stepped hole 121, and the other of the outer side wall of the shaft connecting bracket 11 and the inner side wall of the support ring 12 is provided with a position-limiting flange 111, and the position-limiting flange 111 is fitted in the stepped hole 121.
Therefore, after the shaft connecting support 11 and the support ring 12 are in interference fit, the limit flange 111 is fitted in the stepped hole 121, and the axial positioning of the shaft connecting support 11 and the support ring 12 in the support ring 12 can be further ensured. Moreover, under the limit of the limit flange 111, the assembly precision between the shaft connecting bracket 11 and the support ring 12 is also made higher.
In some embodiments, as shown in FIG. 6, the retainer flange 111 is provided on the outside wall of the shaft connecting bracket 11 and the stepped hole 121 is provided on the inside wall of the support ring 12. Therefore, when the wall thickness of the support ring 12 is limited, the support ring 12 can be easily machined and manufactured, and the strength of the support ring 12 is increased.
Also, the position restricting flange 111 is interference-fitted with the stepped hole 121, thereby further securing the coupling strength between the shaft connecting bracket 11 and the support ring 12.
In some embodiments, the support ring 12 is in interference fit with the magnetic conductive ring 2, the first end surface of the support ring 12 is coplanar with the first end surface of the magnetic conductive ring 2, and the stepped hole 121 is disposed at the first end of the support ring 12. When the first end surface of the support ring 12 is coplanar with the first end surface of the magnetic conductive ring 2, the completion of the assembly between the support ring 12 and the magnetic conductive ring 2 is represented, thereby effectively ensuring the assembly accuracy of the magnetic conductive ring 2 and the support ring 12.
As shown in fig. 2 and 3, the height of the magnetic conductive ring 2 is greater than that of the support ring 12, and by providing the stepped hole 121 at the first end of the support ring 12, the support ring 12 can only be sleeved on the shaft connecting bracket 11 from the second end of the magnetic conductive ring 2 toward the first end, so as to achieve the assembly of the support ring 12 on the shaft connecting bracket 11. Therefore, when the support ring 12 is assembled on the shaft connecting support 11, the magnetic steel support 3 and the magnetic steel 4 on the inner side of the magnetic conduction ring 2 are effectively prevented from colliding with the shaft connecting support 11 to be damaged by mistake or moved by mistake, and the assembly precision of the rotor support 1 is further ensured.
In some embodiments, as shown in FIG. 2, a first end surface of the shaft connecting bracket 11 is smoothly connected with a first end surface of the support ring 12, and a second end surface of the shaft connecting bracket 11 is smoothly connected with a second end surface of the support ring 12. Therefore, whether the assembly between the shaft connecting support 11 and the support ring 12 is completed or not can be accurately monitored, and the assembly precision between the shaft connecting support 11 and the support ring 12 is ensured. Moreover, when the joint of the shaft connecting bracket 11 and the support ring 12 is impacted by external impact, the shaft connecting bracket 11 and the support ring 12 are impacted at the same time, and relative movement between the shaft connecting bracket 11 and the support ring 12 is not easy to occur.
In some embodiments, one of the inner side wall of the support ring 12 and the outer side wall of the shaft connecting bracket 11 is provided with a rotation stopping protrusion, the other of the inner side wall of the support ring 12 and the outer side wall of the shaft connecting bracket 11 is provided with a rotation stopping groove, the shaft connecting bracket 11 is in plug-in fit with the support ring 12, and the rotation stopping protrusion is fitted in the rotation stopping groove.
Specifically, if the inner side wall of the support ring 12 is provided with a rotation stopping protrusion, the outer side wall of the shaft connecting support 11 is provided with a rotation stopping groove, and the rotation stopping groove extends along the axial direction of the shaft connecting support 11 and is arranged at the second end opening of the shaft connecting support 11. When the support ring 12 is mounted on the shaft connecting bracket 11, the rotation stop projections engage in the rotation stop grooves, thereby further securing the relative fixation of the shaft connecting bracket 11 and the support ring 12 in the circumferential direction.
The rotor 100 according to the embodiment of the present invention includes a rotor bracket 1, a magnetic conductive ring 2, a magnetic steel bracket 3, and a plurality of magnetic steels 4. The rotor support 1 is a rotor support 1 according to any of the embodiments described above. The magnetic conductive ring 2 is in interference fit with the support ring 12 of the rotor bracket 1. The magnetic steel bracket 3 is in interference fit in the magnetic conductive ring 2 and is stopped against the support ring 12. A plurality of magnet steels 4 are mounted on the magnet steel bracket 3.
The rotor 100 according to the embodiment of the present invention has the advantages of convenient assembly and high assembly precision by using the rotor support 1 of the above-described embodiment.
In some embodiments, as shown in fig. 1 and 2, the magnetic steel bracket 3 has a plurality of mounting grooves, the plurality of mounting grooves correspond to the plurality of magnetic steels 4 one to one, the magnetic steels 4 are fitted in the corresponding mounting grooves, and the magnetic steels 4 are bonded to the magnetic conductive ring 2.
A plurality of mounting grooves are distributed on the magnetic steel support 3 along the circumferential direction of the magnetic steel support 3 at equal intervals, and the magnetic steel 4 is matched with the mounting grooves and is bonded and connected with the magnetic conductive ring 2, so that the assembly precision of the magnetic steel 4 is ensured. Moreover, the magnetic steel bracket 3 and the magnetic steel 4 are assembled without being interfered by the shaft connecting bracket 11, so that the assembly efficiency is higher.
The motor according to the embodiment of the present invention includes a housing, a stator, a rotor 100, and a planetary reduction mechanism. The stator is disposed in the housing, the rotor 100 is the rotor 100 of any of the above embodiments, and the rotor 100 is pivotable relative to the stator. The planetary reduction mechanism comprises a sun gear, an inner gear ring, a planet gear and a planet carrier. The sun gear is coaxially connected with the shaft connecting support 11 of the rotor 100, specifically, a matching hole is arranged on the shaft connecting support 11, the matching hole is a special-shaped hole, and a shaft section of the sun gear is matched in the matching hole. The inner gear ring is connected with the machine shell, the planet wheel is meshed with the sun wheel and the inner gear ring, and the planet wheel is pivotally connected with the planet carrier through a planet shaft.
The motor according to the embodiment of the present invention has the advantages of convenient assembly and high assembly precision by using the rotor 100 of the above embodiment.
The legged robot 200 according to the embodiment of the present invention includes a trunk assembly 6 and a plurality of leg assemblies 5, wherein the plurality of leg assemblies 5 are connected to the trunk assembly 6, and the trunk assembly 6 and/or the leg assemblies 5 are provided with motors, which are the motors according to the above-mentioned embodiments.
The legged robot 200 according to the embodiment of the present invention has the advantages of convenient assembly and high assembly precision by using the motor according to the above-described embodiment.
In some embodiments, the trunk assembly 6 is provided with a motor, the leg assembly 5 includes a thigh 51, and the trunk assembly 6 is connected with the thigh 51 through the motor, and the motor is used for driving the thigh 51 to swing.
The motor is used for driving the thigh 51 to swing back and forth and/or swing left and right relative to the body assembly 6, and it should be noted that when the thigh 51 is required to simultaneously satisfy the swing left and right and the swing front and back, two or more motors should be provided for the body assembly 6.
In some embodiments, the leg assembly 5 is provided with a motor, as shown in fig. 7, the leg assembly 5 further comprises a lower leg 52, the upper leg 51 is connected with the lower leg 52 through the motor, and the motor is used for driving the lower leg 52 to swing.
This motor drives the lower leg 52 to swing back and forth with respect to the upper leg 51, whereby the degree of freedom of the foot robot 200 is higher, and the foot robot 200 can realize more complicated motions.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A rotor support, comprising: the support ring is coaxially arranged on the periphery of the shaft connecting support and detachably connected with the shaft connecting support.
2. The rotor support of claim 1, wherein the shaft connection bracket is an interference fit with the support ring.
3. The rotor holder according to claim 1, wherein one of the outer side wall of the shaft connecting bracket and the inner side wall of the support ring is provided with a stepped hole, and the other of the outer side wall of the shaft connecting bracket and the inner side wall of the support ring is provided with a position-limiting flange fitted in the stepped hole.
4. The rotor support according to claim 3, wherein the position-limiting flange is provided on an outer side wall of the shaft connecting support, the stepped hole is provided on an inner side wall of the support ring, and the position-limiting flange is in interference fit with the stepped hole.
5. The rotor support according to claim 4, wherein the support ring is in interference fit with the magnetically conductive ring, the first end surface of the support ring is coplanar with the first end surface of the magnetically conductive ring, and the stepped hole is provided at the first end of the support ring.
6. The rotor support of claim 1, wherein the first end surface of the shaft connecting bracket is in smooth connection with the first end surface of the support ring and the second end surface of the shaft connecting bracket is in smooth connection with the second end surface of the support ring.
7. The rotor support according to claim 1, wherein one of the inner side wall of the support ring and the outer side wall of the shaft connecting bracket is provided with a rotation stopping protrusion, the other of the inner side wall of the support ring and the outer side wall of the shaft connecting bracket is provided with a rotation stopping groove, the shaft connecting bracket is in plug fit with the support ring, and the rotation stopping protrusion is fitted in the rotation stopping groove.
8. A rotor, comprising:
a rotor support according to any one of claims 1 to 7;
the magnetic conduction ring is in interference fit with the support ring of the rotor bracket;
the magnetic steel bracket is in interference fit with the magnetic conductive ring and abuts against the support ring; and
and the magnetic steels are arranged on the magnetic steel bracket.
9. The rotor of claim 8, wherein the magnetic steel bracket has a plurality of mounting grooves, the mounting grooves correspond to the magnetic steels one by one, the magnetic steels are fitted in the corresponding mounting grooves, and the magnetic steels are bonded to the magnetic conductive rings.
10. An electric machine, comprising:
a housing;
the stator is arranged in the shell;
a rotor according to any one of claims 8 or 9, the rotor being pivotable relative to the stator; and
the planetary reduction mechanism comprises a sun wheel, an inner gear ring, a planet wheel and a planet carrier, the sun wheel is coaxially connected with the shaft connecting support of the rotor, the inner gear ring is connected with the machine shell, the planet wheel is meshed with the sun wheel and the inner gear ring, and the planet wheel is pivotally connected with the planet carrier through a planet shaft.
11. A legged robot, comprising a trunk assembly and a plurality of leg assemblies, wherein the plurality of leg assemblies are connected to the trunk assembly, and the trunk assembly and/or the leg assemblies are provided with motors, and the motors are the motors according to claim 10.
12. The legged robot according to claim 11, wherein the body assembly is provided with the motor, the leg assembly includes a thigh, the body assembly and the thigh are connected by the motor, and the motor is used for driving the thigh to swing.
13. The legged robot according to claim 12, wherein the leg assembly is provided with the motor, the leg assembly further includes a lower leg, the upper leg is connected to the lower leg via the motor, and the motor is configured to drive the lower leg to swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121710811.2U CN215817705U (en) | 2021-07-26 | 2021-07-26 | Rotor support, rotor, motor and foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121710811.2U CN215817705U (en) | 2021-07-26 | 2021-07-26 | Rotor support, rotor, motor and foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215817705U true CN215817705U (en) | 2022-02-11 |
Family
ID=80184645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121710811.2U Active CN215817705U (en) | 2021-07-26 | 2021-07-26 | Rotor support, rotor, motor and foot type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215817705U (en) |
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2021
- 2021-07-26 CN CN202121710811.2U patent/CN215817705U/en active Active
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Effective date of registration: 20230925 Address after: Room 602, 6th Floor, Building 5, Building 15, Kechuang 10th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing, 100176 Patentee after: Beijing Xiaomi Robot Technology Co.,Ltd. Address before: No.018, 8th floor, building 6, No.33 yard, middle Xierqi Road, Haidian District, Beijing 100085 Patentee before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. |