CN216940763U - Electrically driven joint module and robot - Google Patents
Electrically driven joint module and robot Download PDFInfo
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- CN216940763U CN216940763U CN202121289316.9U CN202121289316U CN216940763U CN 216940763 U CN216940763 U CN 216940763U CN 202121289316 U CN202121289316 U CN 202121289316U CN 216940763 U CN216940763 U CN 216940763U
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Abstract
The utility model discloses an electrically driven joint module and a robot, comprising: a stator flange having an accommodation space; the output flange is positioned in the accommodating space; the threading pipe is connected with the output flange; the speed reducer is sleeved outside the threading pipe; the motor rotor is connected with the threading pipe; the motor stator is arranged on the stator flange; the motor stator is arranged around the speed reducer, and the motor rotor is arranged around the motor stator. This application adopts frameless moment external rotor motor to inlay the speed reducer to the motor stator in, reach the volume that reduces drive joint module. The weight of the driving joint module is reduced, so that the overall weight of the foot type robot is reduced, and the effect of improving the cruising ability of the foot type robot is achieved.
Description
Technical Field
The utility model relates to the technical field of motors, in particular to an electric drive joint module and a robot.
Background
At present, after industrial robots and cooperative robots are mature and popularized, great manpower and material resources are invested in research of starting to move the robots by various research institutions and enterprises. Mobile robots are mainly classified into two categories, wheeled robots and legged robots, which have several distinct advantages over wheeled robots:
1. a foot robot or foot vehicle may run on any surface where a wheeled robot cannot work. There are different wheels that adapt to different surfaces, but none of the standards can work on any surface. In addition, wheels are designed to work on prepared surfaces such as slippery surfaces, roads, tracks, and the like.
2. Legged robots can jump over or cross obstacles, while wheeled robots need to somehow traverse it or take another path.
3. Wheeled robots need to travel in a continuous path, whereas legged robots can travel across separate paths.
The legged robot can avoid unnecessary foothold that cannot be avoided in the wheeled robot.
In the prior art, many driving joints for the foot type robot adopt a motor and a speed reducer in a separated mode, and are not integrated together, so that the joint driving structure is large in size.
Accordingly, there is a need for improvements and developments in the art.
SUMMERY OF THE UTILITY MODEL
The present invention provides an electrically driven joint module and a robot, which aims to solve the problem of large volume of a joint driving structure in the prior art.
The technical scheme adopted by the utility model for solving the technical problem is as follows:
an electrically driven joint module, comprising:
a stator flange having an accommodation space;
the output flange is positioned in the accommodating space;
the threading pipe is connected with the output flange;
the speed reducer is sleeved outside the threading pipe;
the motor rotor is connected with the threading pipe;
the motor stator is arranged on the stator flange;
the motor stator is arranged around the speed reducer, and the motor rotor is arranged around the motor stator.
The electric drive joint module, wherein, the stator flange includes:
an outer sidewall;
an inner sidewall located within the outer sidewall;
and the two ends of the connecting wall are respectively connected with the outer side wall and the inner side wall.
The electrically driven joint module, wherein, the speed reducer includes:
the inner gear ring is arranged on the inner side wall;
the sun wheel is sleeved outside the threading pipe;
the planet wheel is rotationally connected with the output flange and is respectively meshed with the inner gear ring and the sun wheel.
The electric drive joint module is characterized in that a planet carrier is arranged on the output flange; the planet carrier is provided with a planet pin, and the planet wheel is rotationally connected with the planet pin.
The electric drive joint module is characterized in that the motor rotor is connected with the threading pipe through a rotor output shaft; the rotor output shaft is provided with a through hole, and the sun wheel is located in the through hole.
The electric drive joint module, wherein, the electric drive joint module still includes:
the motor rear flange is positioned on one side of the rotor output shaft, which is far away from the connecting wall;
and the rear flange of the motor is rotationally connected with the rotor output shaft through an output shaft bearing.
The electric drive joint module, wherein, the electric drive joint module still includes:
a support cover disposed at the motor rear flange;
an encoder reading head disposed on the support cover;
and the encoder magnetic ring is arranged around the edge of the through hole.
The electric drive joint module, wherein, the electric drive joint module still includes:
the encoder cover is connected with the rear flange of the motor;
the support cover and the encoder read head are both located within the encoder cover.
The electric drive joint module is characterized in that the output flange is positioned in the inner side wall, rotates in the inner side wall, and is rotatably connected with the inner side wall through a flange bearing; and/or
The motor stator is arranged outside the inner side wall, a gap is formed between the motor stator and the outer side wall, the motor rotor is located in the gap, and the motor rotor rotates in the gap.
A robot, comprising:
an electrically driven joint module as set forth in any of the above.
Has the advantages that: this application adopts frameless moment external rotor motor to inlay the speed reducer to the motor stator in, reach the volume that reduces drive joint module.
Drawings
Fig. 1 is a perspective view of an electric drive joint module according to the present invention.
Fig. 2 is a cross-sectional view of an electric drive joint module according to the present invention.
Fig. 3 is a first exploded view of the electric drive joint module of the present invention.
Fig. 4 is a second exploded view of the electric drive joint module of the present invention.
Fig. 5 is a third exploded view of the electric drive joint module of the present invention.
Fig. 6 is a first structural schematic diagram of the speed reducer of the present invention.
Fig. 7 is a second schematic diagram of the reducer of the present invention.
Description of reference numerals:
1. a stator flange; 1a, an outer side wall; 1b, an inner side wall; 1c, connecting walls; 2. a motor rotor; 3. a motor stator; 4. a rotor output shaft; 4a, a through hole; 5. a bearing gland; 6. an inner gear ring; 7. a planet wheel; 8. a planet wheel bearing; 9. a planet pin; 10. a planet shaft bushing; 11. a sun gear; 12. a threading tube; 13. an output flange; 14. a planet carrier bearing; 15. an output flange bearing bushing; 16. a planet carrier; 17. flange bearings, 18 and an inner gear ring gland bush; 19. a motor rear flange; 20. an output shaft bearing; 21. a support cover; 22. an encoder magnetic ring; 23. an encoder read head; 24. and (4) an encoder cover.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Referring to fig. 1-7, the present invention provides some embodiments of an electric-driven joint module.
As shown in fig. 1 to 2 and 5, an electric drive joint module according to the present invention includes:
a stator flange 1 having an accommodation space;
an output flange 13 located within the receiving space;
the threading pipe 12 is connected with the output flange 13;
the speed reducer is sleeved outside the threading pipe 12;
the motor rotor 2 is connected with the threading pipe 12;
the motor stator 3 is arranged on the stator flange 1;
the motor stator 3 is arranged around the speed reducer, and the motor rotor 2 is arranged around the motor stator 3.
It is worth explaining that the frameless torque outer rotor motor is adopted, the speed reducer is embedded into the motor stator 3, and the purpose of reducing the size of the driving joint module is achieved. The weight of the driving joint module is reduced, so that the overall weight of the foot type robot is reduced, and the effect of improving the cruising ability of the foot type robot is achieved.
Frameless torque motors: the torque motor adopts the design of a constant magnetic resistance brushless motor, the motor consists of an annular stator and an annular rotor, the stator does not adopt a tooth-shaped lamination design but consists of smooth cylindrical laminations, and the rotor consists of a multi-pole rare earth permanent magnetic pole and an annular hollow shaft. The torque motor is a special type permanent magnet brushless synchronous motor, and the load is directly connected with the rotor without any transmission part, so the torque motor belongs to a direct drive technology. The torque motor is also a "frameless" motor. That is to say the motor has no housing, bearings or measuring system. These parts are selected by the machine manufacturer according to the desired performance, or purchased in sets. Unlike conventional motors, torque motor specifications are primarily dependent on torque, not power. Furthermore, the maximum torque determines the torque that the motor can actually produce and the continuous torque determines the torque that the motor can continuously provide. The applied load cycle determines the degree of dependence on maximum or continuous torque.
It is understood that in the present application the motor stator 3 is a ring stator and the motor rotor 2 is a ring rotor. The threading pipe 12 is a hollow pipe, and the threading pipe 12 can be used for a line to pass through.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2, 4 and 5, the stator flange 1 includes:
an outer side wall 1 a;
an inner side wall 1b located within the outer side wall 1 a;
and the two ends of the connecting wall 1c are respectively connected with the outer side wall 1a and the inner side wall 1 b.
Specifically, the stator flange 1 includes three portions, an outer side wall 1a, an inner side wall 1b, and a connecting wall 1 c. Both ends of the connecting wall 1c are connected to the bottom of the outer side wall 1a and the bottom of the inner side wall 1b, respectively. The connecting wall 1c is annular, the outer side wall 1a is connected to the outer side of the annular connecting wall 1c, and the inner side wall 1b is connected to the inner side of the annular connecting wall 1 c.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 2, 3, 6 and 7, the speed reducer includes:
the inner gear ring 6 is arranged on the inner side wall 1 b;
the sun wheel 11 is sleeved outside the threading pipe 12;
the planet wheel 7 is rotationally connected with the output flange 13, and the planet wheel 7 is respectively meshed with the inner gear ring 6 and the sun wheel 11.
The speed reducer is an independent component consisting of gear transmission, worm transmission and cycloid transmission which are enclosed in a rigid shell, a transmission device which is commonly used as a driving element and a working machine and has the functions of reducing speed and increasing torque is used for matching rotating speed and transmitting torque between the driving element and the working machine, and the speed reducer is widely applied to modern machinery.
Specifically, the ring gear 6 is disposed inside the top of the inner sidewall 1b, and in order to limit the displacement of the ring gear 6 and prevent the movement of the ring gear 6, a ring gear 6 cover is disposed on the inner sidewall 1b, and the ring gear 6 is clamped by the ring gear 6 cover and the inner sidewall 1 b. Further, a plurality of first flat structures are provided on the outer side of the ring gear 6, and a second flat structure is provided on the inner side wall 1b, the first flat structures and the second flat structures being in surface-to-surface contact, thereby restricting movement of the ring gear 6 in the circumferential direction. The sun gear 11 is a wheel positioned at the center of the speed reducer, and the planet gears 7 are arranged around the sun gear 11. And two ends of the planet wheel 7 are respectively meshed with the inner gear ring 6 and the sun wheel 11. The number of the planet wheels 7 can be multiple, and as shown in fig. 6 and 7, the stability of the speed reducer can be improved by adopting 3 planet wheels 7.
The inner gear ring 6 of the speed reducer is installed on the stator flange 1 in the modes of interference fit, glue coating and the like, meanwhile, the axial movement of the inner gear ring 6 of the speed reducer is limited through the inner gear ring 6 pressing cover, and the inner gear ring 6 pressing cover is fixed on the stator flange 1 through a threaded fastener. The sun gear 11 of the speed reducer drives the planet gear 7 of the speed reducer to do rotation motion around the planet pin 9 and revolution motion around the sun gear 11 of the speed reducer inside the inner gear ring 6 of the speed reducer.
The threading pipe 12 is fixed on the output flange 13 through the threaded fastener, when the cable passes through the middle hole, the cable is not directly contacted with the sun gear 11 of the high-speed running speed reducer, but is contacted with the low-speed running threading pipe 12, the effect of reducing the abrasion of the cable is achieved, the wear-resistant material with small density is used for manufacturing the threading pipe 12, gaps are reserved on the outer wall of the threading pipe 12 and the inner wall of the sun gear 11 of the speed reducer, and the abrasion caused by the friction between the threading pipe 12 and the sun gear 11 of the speed reducer is prevented.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2, 3, 6 and 7, the output flange 13 is provided with a planet carrier 16; the planet carrier 16 is provided with a planet pin 9, and the planet wheel 7 is rotationally connected with the planet pin 9.
Specifically, in order to further improve the rotational stability of the planet gears 7, a planet carrier 16 is disposed on the output flange 13, and the planet carrier 16 and the output flange 13 are respectively located on the upper side and the lower side of the planet gears 7 and are connected through planet pins 9. The planet wheel 7 is rotationally connected with the planet pin 9 through a planet wheel bearing 8, and the planet wheel bearing 8 has supporting and limiting functions on the planet wheel 7 of the speed reducer. The number of the planet wheel bearings 8 is two, a planet wheel shaft bushing 10 is arranged between the two planet wheel bearings 8, and the planet wheel shaft bushing 10 has supporting and limiting effects on the planet wheel bearings 8. The planet carrier bearing 14 is located between the planet carrier 16 and the rotor output shaft 4, and the planet carrier bearing 14 has the function of supporting and limiting the planet carrier 16.
The planet pin 9 is arranged on the planet carrier 16, and the planet carrier 16, the planet pin 9 and the output flange 13 are connected into a whole through a threaded fastener, so that the revolution motion of the planet wheel 7 of the speed reducer can be converted into the revolution motion of the output flange 13 of the joint module by taking a central shaft as a rotating shaft.
In a preferred implementation of the embodiment of the present invention, as shown in fig. 2, 4-7, the motor rotor 2 is connected to the threading tube 12 through the rotor output shaft 4; the rotor output shaft 4 is provided with a through hole 4a, and the sun gear 11 is positioned in the through hole 4 a.
Specifically, the motor rotor 2 is connected with the threading pipe 12 through the rotor output shaft 4, so that when the motor rotor 2 rotates, the rotor output shaft 4, the threading pipe 12 and the output flange 13 are driven to rotate. The rotor output shaft 4 is provided with a through hole 4a, the sun gear 11 is positioned in the through hole 4a, and the rotor output shaft 4 is connected with the threading pipe 12 through the sun gear 11.
The rotor output shaft 4 is connected with the motor rotor 2 through a threaded fastener, so that the rotation and the torque of the motor rotor 2 can be transmitted to the rotor output shaft 4; the rotor output shaft 4 is connected to the reducer sun gear 11 such that the rotation and torque of the motor rotor 2 can be transmitted to the reducer sun gear 11 through the rotor output shaft 4.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 1 to 5, the electric drive joint module further includes:
a motor rear flange 19 located on a side of the rotor output shaft 4 facing away from the connecting wall 1 c;
the motor rear flange 19 is rotatably connected to the rotor output shaft 4 via an output shaft bearing 20.
Specifically, a motor rear flange 19 is connected to the top of the outer side wall 1a, and the motor rear flange 19 is rotatably connected to the rotor output shaft 4 through an output shaft bearing 20. The threading tube 12 passes through the rear flange 19 of the motor. And a rotor output shaft bearing is arranged between the motor rear flange 19 and the rotor output shaft 4, and has supporting and limiting functions on the rotor output shaft 4.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 2 and 5, the electric drive joint module further includes:
a support cover 21 provided to the motor rear flange 19;
an encoder reading head 23 provided on the support cover 21;
and an encoder magnetic ring 22 disposed around the edge of the through hole 4 a.
An encoder: an encoder is a device that compiles, converts, and/or formats signals or data into a form of signals that can be communicated, transmitted, and stored. Encoders convert angular or linear displacements, called codewheels, into electrical signals, called coderulers. The encoder can be divided into a contact type and a non-contact type according to a reading mode; encoders can be classified into an incremental type and an absolute type according to their operation principles. The incremental encoder converts displacement into periodic electrical signals, and then converts the electrical signals into counting pulses, and the number of the pulses is used for expressing the magnitude of the displacement. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.
Specifically, a support cover 21 is provided on the motor rear flange 19, an encoder reading head 23 is provided on the support cover 21, and an encoder magnetic ring 22 is provided on the rotor output shaft 4, specifically around the through hole 4 a. The conduit 12 passes through the support cover 21 and the encoder read head 23 so that the electrical wires in the conduit 12 can be connected to the encoder read head 23.
The encoder magnetic ring 22 is fixed on the rotor output shaft 44 in a manner of interference fit, glue coating and the like, so that the rotation of the motor rotor 22 can be transmitted to the encoder magnetic ring 22 through the rotor output shaft 44;
the motor rear flange 19 is connected with the stator flange 1 through a threaded fastener, an interference fit, glue coating and the like, the encoder reading head 23 mounting support cover 21 is connected with the motor rear flange 19 through a threaded fastener, an interference fit, glue coating and the like, and the encoder reading head 23 is connected with the encoder reading head 23 mounting support cover 21 through a threaded fastener, an interference fit, glue coating and the like; therefore, the encoder reading head 23 can read the rotation position of the encoder magnetic ring 22, and then servo position control is carried out on the joint module.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 1 to 5, the electric drive joint module further includes:
the encoder cover 24 is connected with the motor rear flange 19;
the support cover 21 and the encoder read head 23 are both located within the encoder cover 24.
Specifically, in order to protect the encoder reading head 23, an encoder cover 24 is provided on the motor rear flange 19, and the support cover 21 and the encoder reading head 23 are covered therein to protect the encoder reading head 23. The encoder cover 24 is connected with the motor rear flange 19 through threaded fasteners, interference fit, glue coating and the like, and has dustproof and waterproof effects on the joint module.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 2, fig. 5 and fig. 6, the output flange 13 is located in the inner side wall 1b, the output flange 13 rotates in the inner side wall 1b, and the output flange 13 is rotatably connected to the inner side wall 1b through a flange bearing 17.
Specifically, the output flange 13 is located inside the inner side wall 1b and is rotatable inside the inner side wall 1 b. The output flange 13 is rotatably connected to the inside of the inner side wall 1b by a flange bearing 17. That is, the flange bearing 17 is provided between the stator flange 1 and the output flange 13, and has a supporting and limiting function for the output flange 13. The flange bearings 17 are two, and an output flange bearing bush 15 is arranged between the two flange bearings 17. A joint module output flange bearing bush 15 is arranged between the two output flange bearings, and has supporting and limiting effects on the joint module output flange bearing. In order to restrict the displacement of the flange bearing 17, a bearing cover 5 is provided at the bottom of the inner side wall 1b, and the flange bearing 17 is held between the inner side wall 1b and the bearing cover 5.
In a preferred implementation manner of the embodiment of the present invention, as shown in fig. 2, fig. 5 and fig. 6, the motor stator 3 is disposed outside the inner side wall 1b, a gap is formed between the motor stator 3 and the outer side wall 1a, the motor rotor 2 is located in the gap, and the motor rotor 2 rotates in the gap.
Specifically, the motor stator 3 is disposed around the inner side wall 1b, the motor stator 3 has a gap between the outer side wall 1a, and the motor rotor 2 is located in the gap and can rotate in the gap. The motor stator 3 is fixed on the stator flange 1 in a manner of interference fit, glue coating and the like; the motor rotor 2 belongs to an outer rotor and is arranged on the outer ring of the motor stator 3, and a gap is formed between the motor rotor 2 and the motor stator 3, so that the motor rotor 2 can freely rotate relative to the motor stator 3.
Braking an internal contracting brake: the brake band-type brake is in a tightly holding state before the motor is electrified, so that the motor cannot rotate, and after the motor is electrified and enabled, the brake band-type brake is loosened, so that the motor can be controlled to rotate. The main function of the brake is to stop the machine when the machine is suddenly cut off due to a fault, and the accident caused by continuous operation due to factors such as inertia, gravity and the like is avoided.
Based on the electric drive joint module described in any of the above embodiments, the present invention further provides a preferred embodiment of the robot:
as shown in fig. 1, a robot according to an embodiment of the present invention includes:
the electric drive joint module according to any of the above embodiments.
It is to be understood that the utility model is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the utility model as defined by the appended claims.
Claims (10)
1. An electrically driven joint module, comprising:
a stator flange having an accommodation space;
the output flange is positioned in the accommodating space;
the threading pipe is connected with the output flange;
the speed reducer is sleeved outside the threading pipe;
the motor rotor is connected with the threading pipe;
the motor stator is arranged on the stator flange;
the motor stator is arranged around the speed reducer, and the motor rotor is arranged around the motor stator.
2. The electric drive joint module of claim 1, wherein the stator flange comprises:
an outer sidewall;
an inner sidewall located within the outer sidewall;
and the two ends of the connecting wall are respectively connected with the outer side wall and the inner side wall.
3. The electric drive joint module of claim 2, wherein the speed reducer comprises:
the inner gear ring is arranged on the inner side wall;
the sun gear is sleeved outside the threading pipe;
the planet wheel is rotationally connected with the output flange and is respectively meshed with the inner gear ring and the sun wheel.
4. The electric drive joint module of claim 3, wherein a planet carrier is disposed on the output flange; the planet carrier is provided with a planet pin, and the planet wheel is rotationally connected with the planet pin.
5. The electrically driven joint module according to claim 3, wherein the motor rotor is connected to the conduit via a rotor output shaft; the rotor output shaft is provided with a through hole, and the sun wheel is located in the through hole.
6. The electric drive joint module of claim 5, further comprising:
the motor rear flange is positioned on one side of the rotor output shaft, which is far away from the connecting wall;
and the rear flange of the motor is rotationally connected with the rotor output shaft through an output shaft bearing.
7. The electric drive joint module of claim 6, further comprising:
a support cover disposed at the motor rear flange;
an encoder reading head disposed on the support cover;
and the encoder magnetic ring is arranged around the edge of the through hole.
8. The electric drive joint module of claim 7, further comprising:
the encoder cover is connected with the rear flange of the motor;
the support cover and the encoder read head are both located within the encoder cover.
9. The electric drive joint module of claim 2, wherein the output flange is located within the inner sidewall, the output flange rotating within the inner sidewall, the output flange being rotationally coupled to the inner sidewall via a flange bearing; and/or
The motor stator is arranged outside the inner side wall, a gap is formed between the motor stator and the outer side wall, the motor rotor is located in the gap, and the motor rotor rotates in the gap.
10. A robot, comprising:
the electric drive joint module according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121289316.9U CN216940763U (en) | 2021-06-08 | 2021-06-08 | Electrically driven joint module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121289316.9U CN216940763U (en) | 2021-06-08 | 2021-06-08 | Electrically driven joint module and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216940763U true CN216940763U (en) | 2022-07-12 |
Family
ID=82289837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121289316.9U Active CN216940763U (en) | 2021-06-08 | 2021-06-08 | Electrically driven joint module and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216940763U (en) |
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2021
- 2021-06-08 CN CN202121289316.9U patent/CN216940763U/en active Active
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