CN216242077U

CN216242077U - Integrated cycloidal gear speed reduction joint motor

Info

Publication number: CN216242077U
Application number: CN202122615498.0U
Authority: CN
Inventors: 陈朋朋
Original assignee: Shanghai Aoyun Technology Co ltd
Current assignee: Shanghai Aoyun Technology Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-04-08
Anticipated expiration: 2031-10-28

Abstract

The utility model relates to the technical field of intelligent robots, and particularly discloses an integrated cycloidal gear speed reduction joint motor which comprises an output end fixing disc, a front end fixing cover, a cycloidal gear, an annular gear shell, an input end fixing disc, a driving shaft, an outer rotor, an inner stator, a shell cover, a control circuit board and a circuit board protective cover, wherein the output end fixing disc is fixed on the front end of the cycloidal gear; the output end fixing disc is fixed on the front end fixing cover, the front end fixing cover is fixed on the annular gear shell, a separating annular plate is arranged in an inner cavity of the annular gear shell, the cycloid wheel and the input end fixing disc are respectively installed on the front side and the rear side of the separating annular plate, the driving shaft is installed on the outer rotor, and the inner stator is rotatably installed inside the outer rotor. The motor structure of the joint is simplified, the mounting structure between each component of the motor structure is stable and reliable, the motor structure is convenient to disassemble, assemble and maintain, the whole volume of the motor is small, the integration degree is high, the transmission efficiency is high, the noise is low in operation stability, and the practicability is further improved.

Description

Integrated cycloidal gear speed reduction joint motor

Technical Field

The utility model relates to the technical field of intelligent robots, in particular to an integrated cycloidal gear speed reduction joint motor.

Background

With the rapid development of computer technology and automation technology and the combination of deep research in the field of bionics, the research and application enthusiasm of intelligent foot-type bionic robots is further improved nowadays, and the intelligent foot-type bionic robot is used as one of key core parts of an intelligent foot-type robot system and has more and more application requirements for joint servo motor actuators.

When the existing joint servo motor is used in practice, most of the existing joint servo motors have the defects of unreasonable structural design, complex internal mechanical structure, large volume, heavy weight and high cost. Therefore, improvements are needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an integrated cycloidal gear speed reduction joint motor to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: an integrated cycloidal gear speed reduction joint motor comprises an output end fixing disc, a front end fixing cover, a cycloidal gear, an annular gear shell, an input end fixing disc, a driving shaft, an outer rotor, an inner stator, an outer shell cover, a control circuit board and a circuit board protective cover; the output end fixing disc is fixed on the front end fixing cover, the front end fixing cover is fixed on the annular gear shell, a separating annular plate is arranged in an inner cavity of the annular gear shell, the cycloid wheel and the input end fixing disc are respectively arranged on the front side and the rear side of the separating annular plate, the driving shaft is arranged on the outer rotor, and the inner stator is rotatably arranged in the outer rotor;

one end of the driving shaft, which is far away from the outer rotor, extends to the output end fixing disc and is connected with the axis of the output end fixing disc; the output end fixing disc is provided with a plurality of connecting pin shafts in an annular array, pin shaft sleeves are mounted on the cycloidal gear corresponding to the connecting pin shafts, connecting through holes are formed in the input end fixing disc corresponding to the connecting pin shafts, and one ends of the connecting pin shafts, far away from the input end fixing disc, penetrate through the pin shaft sleeves and extend into the connecting through holes in the input end fixing disc; annular array is provided with a plurality of pin teeth round pins on the circumference outer wall of cycloid wheel, separate set up on the ring gear shell inner wall of crown plate front side with the mounting groove of pin teeth round pin radian adaptation, pin teeth round pin joint is in the mounting groove.

Preferably, an eccentric bearing is installed inside the cycloid wheel.

Preferably, the outer rotor is mounted on the housing cover, the control circuit board is mounted on the rear side of the housing cover, and the circuit board protective cover is covered on the control circuit board.

Preferably, the control circuit board is provided with an electromagnetic encoder, the rear side wall of the shell cover is provided with a limiting frame matched with the outer wall structure of the control circuit board, the inner cavity of the limiting frame is arranged to be a positioning installation cavity, and the control circuit board is embedded in the limiting frame.

Preferably, be fixed with the bearing piece that is used for joint electromagnetic encoder on the position that the location installation cavity corresponds electromagnetic encoder, the highly unanimous with electromagnetic encoder of bearing piece, the bearing piece is kept away from the one end of shell lid and is connected with the laminating of circuit board visor.

Preferably, the positioning columns are fixedly arranged at the peripheral corners of the positioning installation cavity, positioning threaded holes are formed in the positioning columns, threaded blind holes are formed in the positions, corresponding to the positioning columns, of the control circuit board, and the threaded blind holes are connected with the positioning threaded holes through sinking screws.

Compared with the prior art, the utility model has the beneficial effects that:

the integrated cycloidal gear speed reduction joint motor simplifies the structure of the joint motor, has stable and reliable mounting structures among all components of the motor structure, is convenient to disassemble, assemble and maintain, has smaller integral volume, higher integration degree, high transmission efficiency and stable operation and low noise, further improves the practicability and reduces the integral cost of a system.

Drawings

FIG. 1 is a front view of the assembly of the parts of the present invention;

FIG. 2 is a side view of the assembly of the parts of the present invention;

FIG. 3 is a schematic view of a mounting structure of the control circuit board according to the present invention;

FIG. 4 is a schematic view of the overall structure of the present invention;

FIG. 5 is an overall front view of the present invention;

FIG. 6 is a side view of the present invention;

FIG. 7 is a top view of the present invention;

fig. 8 is a bottom view of the present invention.

In the figure: 1. an output end fixing disc; 2. a front end fixing cover; 3. a cycloid wheel; 4. an annular gear case; 5. An input end fixing disc; 6. a drive shaft; 7. an outer rotor; 8. an inner stator; 9. a housing cover; 10. a control circuit board; 11. a circuit board protective cover; 12. a separating ring plate; 13. connecting a pin shaft; 14. a connecting through hole; 15. a pin gear pin; 16. mounting grooves; 17. an eccentric bearing; 18. an electromagnetic encoder; 19. a limiting frame; 20. positioning the installation cavity; 21. a bearing block; 22. a positioning column; 23. positioning the threaded hole; 24. a threaded blind hole; 25. sinking the screw; 26. a pin bushing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1-8, the present invention provides a technical solution: an integrated cycloidal gear speed reduction joint motor comprises an output end fixing disc 1, a front end fixing cover 2, a cycloidal gear 3, an annular gear shell 4, an input end fixing disc 5, a driving shaft 6, an outer rotor 7, an inner stator 8, an outer shell cover 9, a control circuit board 10 and a circuit board protecting cover 11; the output end fixing disc 1 is fixed on the front end fixing cover 2, the front end fixing cover 2 is fixed on the annular gear shell 4, a separating annular plate 12 is arranged in an inner cavity of the annular gear shell 4, the cycloid wheel 3 and the input end fixing disc 5 are respectively arranged on the front side and the rear side of the separating annular plate 12, the driving shaft 6 is arranged on the outer rotor 7, and the inner stator 8 is rotatably arranged inside the outer rotor 7;

one end of the driving shaft 6, which is far away from the outer rotor 7, extends to the output end fixing disc 1 and is connected with the axis of the output end fixing disc 1; a plurality of connecting pin shafts 13 are arranged on the output end fixing disc 1 in an annular array, pin shaft sleeves 26 are arranged on the cycloidal gear 3 at positions corresponding to the connecting pin shafts 13, connecting through holes 14 are formed in the input end fixing disc 5 at positions corresponding to the connecting pin shafts 13, and one ends of the connecting pin shafts 13 far away from the input end fixing disc 5 penetrate through the pin shaft sleeves 26 and extend into the connecting through holes 14 in the input end fixing disc 5; a plurality of pin gear pins 15 are arranged on the circumferential outer wall of the cycloidal gear 3 in an annular array mode, a mounting groove 16 matched with the radian of the pin gear pins 15 is formed in the inner wall of the annular gear shell 4 on the front side of the partition ring plate 12, and the pin gear pins 15 are connected in the mounting groove 16 in a clamping mode.

Further, an eccentric bearing 17 is installed inside the cycloid wheel 3.

Further, the outer rotor 7 is mounted on a housing cover 9, a control circuit board 10 is mounted on the rear side of the housing cover 9, and a circuit board protection cover 11 covers the control circuit board 10.

Furthermore, an electromagnetic encoder 18 is installed on the control circuit board 10, a limiting frame 19 matched with the outer wall structure of the control circuit board 10 is installed on the rear side wall of the shell cover 9, an internal cavity of the limiting frame 19 is set to be a positioning installation cavity 20, and the control circuit board 10 is embedded in the limiting frame 19.

Furthermore, a bearing block 21 for clamping the electromagnetic encoder 18 is fixed on the position of the positioning installation cavity 20 corresponding to the electromagnetic encoder 18, the height of the bearing block 21 is consistent with that of the electromagnetic encoder 18, and one end, far away from the outer shell cover 9, of the bearing block 21 is attached to and connected with the circuit board protection cover 11.

Furthermore, all fixed reference column 22 that is provided with in the edge around of location installation cavity 20, seted up location screw hole 23 on the reference column 22, set up threaded blind hole 24 on the control circuit board 10 corresponds the position of reference column 22, through sinking screw 25 connection between threaded blind hole 24 and the location screw hole 23.

The working principle is as follows: when the motor works actually, the control circuit board 10 is mainly responsible for controlling and driving the motor equipment, the mechanical transmission part mainly takes the rotation of the motor equipment as source power, the outer rotor 7 drives the input end fixing disc 1 to rotate through the driving shaft 6, the input power with high rotating speed and low torque is converted into output power with low rotating speed and high torque by means of related components of the cycloid wheel 3, the transmission torque rotates the eccentric bearing 17 through the driving shaft 6 and drives the cycloid wheel 3 positioned in the annular gear shell 4 to rotate regularly in a cycloid way, the torque of the cycloid wheel 3 is transmitted to the output shaft through the matching of the related components of the connecting pin shaft 13, the annular gear 4 and the like, the motor structure simplifies the joint motor structure, the mounting structure among the components is stable and reliable, the disassembly and the maintenance are convenient, the whole volume of the motor is small, the integration degree is high, the output torque is high, the practicability is further improved, and the overall cost of the system is reduced.

It is worth noting that: the whole device realizes control to the device through the controller, and the controller is common equipment and belongs to the existing mature technology, and the electrical connection relation and the specific circuit structure of the controller are not repeated herein.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an integration cycloid wheel gear reduction joint motor which characterized in that: the device comprises an output end fixing disc (1), a front end fixing cover (2), a cycloid wheel (3), an annular gear shell (4), an input end fixing disc (5), a driving shaft (6), an outer rotor (7), an inner stator (8), an outer shell cover (9), a control circuit board (10) and a circuit board protective cover (11); the output end fixing disc (1) is fixed on the front end fixing cover (2), the front end fixing cover (2) is fixed on the annular gear shell (4), a separating annular plate (12) is arranged in an inner cavity of the annular gear shell (4), the cycloidal gear (3) and the input end fixing disc (5) are respectively installed on the front side and the rear side of the separating annular plate (12), the driving shaft (6) is installed on the outer rotor (7), and the inner stator (8) is rotatably installed inside the outer rotor (7);

one end of the driving shaft (6), which is far away from the outer rotor (7), extends to the output end fixing disc (1) and is connected with the axis of the output end fixing disc (1); a plurality of connecting pin shafts (13) are arranged on the output end fixing disc (1) in an annular array mode, pin shaft sleeves (26) are installed on the positions, corresponding to the connecting pin shafts (13), of the cycloid gears (3), connecting through holes (14) are formed in the positions, corresponding to the connecting pin shafts (13), of the input end fixing disc (5), and one end, far away from the input end fixing disc (5), of each connecting pin shaft (13) penetrates through the pin shaft sleeves (26) to extend into the corresponding through holes (14) in the input end fixing disc (5); a plurality of pin gear pins (15) are arranged on the circumferential outer wall of the cycloidal gear (3) in an annular array mode, an installation groove (16) matched with the radian of each pin gear pin (15) is formed in the inner wall of the annular gear shell (4) on the front side of the partition ring plate (12), and the pin gear pins (15) are connected in the installation groove (16) in a clamping mode.

2. The integrated cycloidal gear speed reducing joint motor according to claim 1, characterized in that: an eccentric bearing (17) is arranged in the cycloid wheel (3).

3. The integrated cycloidal gear speed reducing joint motor according to claim 1, characterized in that: the outer rotor (7) is installed on the shell cover (9), the control circuit board (10) is installed on the rear side of the shell cover (9), and the circuit board protective cover (11) is covered on the control circuit board (10).

4. The integrated cycloidal gear speed reducing joint motor according to claim 1, characterized in that: install electromagnetic encoder (18) on control circuit board (10), install on the rear side wall of shell lid (9) with control circuit board (10) outer wall structure adaptation spacing frame (19), the inside cavity of spacing frame (19) sets up to location installation cavity (20), control circuit board (10) embedding is in the inside of spacing frame (19).

5. The integrated cycloidal gear speed reducing joint motor according to claim 4, wherein: the position that location installation cavity (20) corresponds electromagnetic encoder (18) is fixed with bearing block (21) that are used for joint electromagnetic encoder (18), and the height of bearing block (21) is unanimous with the height of electromagnetic encoder (18), and the one end that shell lid (9) were kept away from in bearing block (21) is connected with circuit board visor (11) laminating.

6. The integrated cycloidal gear speed reducing joint motor according to claim 4, wherein: all fixed reference column (22) that is provided with in the all peripheral angle departments of location installation cavity (20), set up location screw hole (23) on reference column (22), set up screw thread blind hole (24) on control circuit board (10) correspond the position of reference column (22), through sinking screw (25) between screw thread blind hole (24) and the location screw hole (23) and be connected.