CN216940763U - Electrically driven joint module and robot - Google Patents

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

Electric drive joint modules and robots

technical field

The utility model relates to the technical field of motors, in particular to an electric drive joint module and a robot.

Background technique

At present, after the maturity and promotion of industrial robots and collaborative robots, various research institutions and enterprises have invested a lot of manpower and material resources in the research of mobile robots. Mobile robots are mainly divided into two categories: wheeled robots and footed robots. Compared with wheeled robots, footed robots have several obvious advantages:

1. A footed robot or a footed vehicle can run on any surface that a wheeled robot cannot work on. There are different wheels adapted to different surfaces, but no one standard works on any surface. In addition, the wheeled type is designed to work on prepared surfaces such as smooth surfaces, roads, tracks, etc.

2. Legged robots can jump over or jump over obstacles, while wheeled robots need to somehow cross it or take a different path.

3. Wheeled robots need to run in a continuous path, while legged robots can advance across separate paths.

Legged robots can avoid unnecessary footholds that cannot be avoided in wheeled robots.

In the prior art, many of the drive joints used in the footed robot are separated from the motor and the reducer, and are not integrated together, resulting in a large joint drive structure.

Therefore, the existing technology still needs to be improved and developed.

Utility model content

The technical problem to be solved by the present invention is to provide an electric drive joint module and a robot aiming at solving the problem of the large volume of the joint drive structure in the prior art, aiming at the above-mentioned defects of the prior art.

The technical scheme adopted by the utility model to solve the technical problem is as follows:

An electric drive joint module, comprising:

Stator flange with accommodating space;

an output flange, located in the accommodating space;

The threading pipe is connected with the output flange;

a reducer, which is sleeved outside the threading pipe;

a motor rotor, connected with the threading pipe;

a motor stator, arranged on the stator flange;

Wherein, the motor stator is arranged around the reducer, and the motor rotor is arranged around the motor stator.

The electric drive joint module, wherein the stator flange comprises:

outer side wall;

an inner side wall, located in the outer side wall;

A connecting wall, two ends of the connecting wall are respectively connected to the outer side wall and the inner side wall.

The electric drive joint module, wherein the reducer includes:

an inner gear ring, arranged on the inner side wall;

a sun gear, sleeved outside the threading pipe;

The planetary gear is rotatably connected with the output flange, and the planetary gear is respectively meshed with the ring gear and the sun gear.

In the electric drive joint module, the output flange is provided with a planetary carrier; the planetary carrier is provided with a planetary pin, and the planetary wheel is rotatably connected with the planetary pin.

In the electric drive joint module, the motor rotor is connected to the threading pipe through a rotor output shaft; a through hole is provided on the rotor output shaft, and the sun gear is located in the through hole.

The electric drive joint module, wherein the electric drive joint module further comprises:

a rear flange of the motor, located on the side of the rotor output shaft away from the connecting wall;

The motor rear flange is rotatably connected with the rotor output shaft through an output shaft bearing.

The electric drive joint module, wherein the electric drive joint module further comprises:

a support cover, arranged on the rear flange of the motor;

an encoder reading head, arranged on the support cover;

The encoder magnetic ring is arranged around the edge of the through hole.

The electric drive joint module, wherein the electric drive joint module further comprises:

an encoder cover, connected with the rear flange of the motor;

Both the support cover and the encoder readhead are located within the encoder cover.

The electric drive joint module, wherein the output flange is located in the inner side wall, the output flange rotates in the inner side wall, and the output flange and the inner side wall pass through a flange bearing swivel connection; and/or

The motor stator is disposed outside the inner side wall, there is a gap 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:

The electric drive joint module according to any one of the above.

Beneficial effects: The present application adopts a frameless torque outer rotor motor, and the reducer is embedded in the motor stator, so as to reduce the volume of the drive joint module.

Description of drawings

FIG. 1 is a perspective view of the electric drive joint module of the present invention.

FIG. 2 is a cross-sectional view of the electric drive joint module of the present invention.

3 is a first exploded view of the electric drive joint module of the present invention.

4 is a second exploded view of the electric drive joint module of the present invention.

5 is a third exploded view of the electric drive joint module of the present invention.

FIG. 6 is a schematic diagram of the first structure of the reducer in the present invention.

Figure 7 is a schematic diagram of the second structure of the reducer in the present invention.

Description of reference numbers:

1. Stator flange; 1a, outer side wall; 1b, inner side wall; 1c, connecting wall; 2, motor rotor; 3, motor stator; 4, rotor output shaft; 4a, through hole; 5, bearing gland; 6, Ring gear; 7. Planetary gear; 8. Planetary gear bearing; 9. Planetary pin; 10. Planetary shaft bushing; 11. Sun gear; 12. Threading pipe; 13. Output flange; 14. Planet carrier bearing; 15 , output flange bearing bushing; 16, planet carrier; 17, flange bearing, 18, ring gear gland; 19, motor rear flange; 20, output shaft bearing; 21, support cover; 22, encoder magnetic Ring; 23. Encoder reading head; 24. Encoder cover.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clear and definite, the present utility model 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 only used to explain the present invention, and are not intended to limit the present invention.

Please refer to FIG. 1 to FIG. 7 at the same time, the present invention provides some embodiments of an electric drive joint module.

As shown in Figure 1-Figure 2 and Figure 5, an electric drive joint module of the present invention includes:

Stator flange 1, with accommodating space;

The output flange 13 is located in the accommodating space;

The threading pipe 12 is connected with the output flange 13;

a reducer, which is sleeved outside the threading pipe 12;

The motor rotor 2 is connected to the threading pipe 12;

The motor stator 3 is arranged on the stator flange 1;

Wherein, the motor stator 3 is arranged around the reducer, and the motor rotor 2 is arranged around the motor stator 3 .

It is worth noting that the present application adopts a frameless torque outer rotor motor, and the reducer is embedded in the motor stator 3 to reduce the volume of the drive joint module. Of course, the weight of the drive joint module is also reduced, thereby reducing the overall weight of the footed robot and improving the endurance of the footed robot.

Frameless torque motor: The torque motor adopts the design of a constant reluctance brushless motor. The motor consists of a ring stator and a ring rotor. The stator is not designed with toothed laminations, but is composed of smooth cylindrical laminations. The rotor is composed of multi-pole rare earth permanent magnet poles and annular hollow shaft. The feature of this structure is to ensure a large air gap, and the reluctance in the entire working air gap is uniform, so the motor has the advantage of no magnetic slot torque. Torque motor is a special type of permanent magnet brushless synchronous motor. Since the load is directly connected to the rotor and does not require any transmission parts, the torque motor belongs to the direct drive technology. A torque motor is also a "frameless" motor. This means that the motor has no housing, bearing or measuring system. These components are selected by the machine manufacturer according to the required performance, or purchased as a set. Unlike conventional motors, torque motor specifications are primarily based on torque, not power. Moreover, 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 duty cycle of the application determines the degree of reliance on maximum torque or continuous torque.

It can be understood that, in this application, the motor stator 3 is a ring-shaped stator, and the motor rotor 2 is a ring-shaped rotor. The threading pipe 12 is a hollow pipe, and the threading pipe 12 can allow lines to pass through.

In a preferred implementation of the embodiment of the present invention, as shown in Figure 2, Figure 4 and Figure 5, the stator flange 1 includes:

outer side wall 1a;

The inner side wall 1b is located in the outer side wall 1a;

A connecting wall 1c, two ends of the connecting wall 1c are respectively connected to the outer side wall 1a and the inner side wall 1b.

Specifically, the stator flange 1 includes three parts, an outer side wall 1a, an inner side wall 1b and a connecting wall 1c. Both ends of the connecting wall 1c are respectively connected to the bottom of the outer side wall 1a and the bottom of the inner side wall 1b. 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 1c.

In a preferred implementation of the embodiment of the present invention, as shown in Figure 2, Figure 3, Figure 6 and Figure 7, the reducer includes:

The inner gear 6 is arranged on the inner side wall 1b;

The sun gear 11 is sleeved outside the threading pipe 12;

The planetary gear 7 is rotatably connected with the output flange 13 , and the planetary gear 7 meshes with the ring gear 6 and the sun gear 11 respectively.

The reducer is an independent component composed of gear drive, worm drive, and cycloid drive enclosed in a rigid shell. It plays the role of matching speed and transmission torque, and is widely used in modern machinery.

Specifically, the inner gear 6 is arranged on the inner side of the top of the inner side wall 1b. In order to limit the displacement of the inner gear 6 and prevent the movement of the inner gear 6, a gland of the inner gear 6 is arranged on the inner side wall 1b. The ring gear 6 is clamped by the ring 6 gland and the inner side wall 1b. In addition, a number of first plane structures are arranged on the outside of the ring gear 6, and a second plane structure is arranged on the inner side wall 1b. Circumferential movement. The sun gear 11 refers to the wheel located at the center of the reducer, and the planetary gear 7 refers to the surrounding of the sun gear 11 . The two ends of the planetary gear 7 mesh with the ring gear 6 and the sun gear 11 respectively. There can be multiple planetary gears 7, as shown in Figures 6 and 7, using three planetary gears 7 can improve the stability of the reducer.

The inner gear 6 of the reducer is installed on the stator flange 1 by means of interference fit, gluing, etc. At the same time, the axial movement of the inner gear 6 of the reducer is restricted by the inner gear 6 gland, and the inner gear 6 gland is limited. It is fixed on the stator flange 1 by means of threaded fasteners. The sun gear 11 of the reducer drives the planetary gear 7 of the reducer to rotate around the planetary pin 9 and revolve around the sun gear 11 of the reducer inside the ring gear 6 of the reducer.

The threading pipe 12 is fixed on the output flange 13 by threaded fasteners, so that when the cable passes through the middle hole, it does not directly contact the sun gear 11 of the speed reducer running at a high speed, but contacts the threading pipe 12 running at a low speed. In order to reduce the wear of the cable, at the same time, use the wear-resistant and low-density material to make the threading tube 12. There should be a gap between the outer wall of the threading tube 12 and the inner wall of the sun gear 11 of the reducer to prevent the threading tube 12 and the reducer. The friction between the sun gears 11 causes wear.

In a preferred implementation of the embodiment of the present invention, as shown in FIGS. 2 , 3 , 6 and 7 , the output flange 13 is provided with a planetary carrier 16 ; the planetary carrier 16 is provided with a planetary carrier 16 . Planetary pin 9, the planetary wheel 7 is rotatably connected with the planetary pin 9.

Specifically, in order to further improve the rotation stability of the planetary wheel 7 , a planetary carrier 16 is provided on the output flange 13 . The planetary wheel 7 and the planetary pin 9 are rotatably connected through the planetary wheel bearing 8, and the planetary wheel bearing 8 has the function of supporting and limiting the planetary wheel 7 of the reducer. There are two planetary wheel bearings 8 , and a planetary wheel axle bushing 10 is arranged between the two planetary wheel bearings 8 , and the planetary wheel axle bushing 10 has the function of supporting and limiting the planetary wheel bearing 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 planetary pin 9 is installed on the planetary carrier 16, and at the same time, the planetary carrier 16, the planetary pin 9 and the output flange 13 are connected together by threaded fasteners, so that the revolution motion of the planetary gear 7 of the reducer can be converted into the output of the joint module The flange 13 rotates with the central axis as the axis of rotation.

In a preferred implementation manner of the embodiment of the present invention, as shown in FIG. 2 and FIG. 4 to FIG. 7 , the motor rotor 2 is connected to the threading pipe 12 through the rotor output shaft 4; the rotor output shaft 4 A through hole 4a is provided on the top, and the sun gear 11 is located in the through hole 4a.

Specifically, the motor rotor 2 is connected to 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 4 a , the sun gear 11 is located in the through hole 4 a , and the rotor output shaft 4 is connected to the threading pipe 12 through the sun gear 11 .

The rotor output shaft 4 and the motor rotor 2 are connected by threaded fasteners, so that the rotation and torque of the motor rotor 2 can be transmitted to the rotor output shaft 4; the rotor output shaft 4 is connected with the sun gear 11 of the reducer, so 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 utility model, as shown in FIG. 1-FIG. 5, the electric drive joint module further includes:

The motor rear flange 19 is located on the side of the rotor output shaft 4 away from the connecting wall 1c;

The motor rear flange 19 is rotatably connected to the rotor output shaft 4 through an output shaft bearing 20 .

Specifically, the 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 the output shaft bearing 20 . The conduit 12 passes through the rear flange 19 of the motor. There is a rotor output shaft bearing between the motor rear flange 19 and the rotor output shaft 4 , which has the function of supporting and limiting the rotor output shaft 4 .

In a preferred implementation of the embodiment of the present utility model, as shown in FIG. 2 and FIG. 5 , the electric drive joint module further includes:

The support cover 21 is arranged on the rear flange 19 of the motor;

The encoder reading head 23 is arranged on the support cover 21;

The encoder magnetic ring 22 is arranged around the edge of the through hole 4a.

Encoder: An encoder is a device that compiles and converts signals or data into a signal form that can be used for communication, transmission and storage. The encoder converts angular displacement or linear displacement into electrical signals, the former is called a code wheel, and the latter is called a code ruler. According to the reading method, the encoder can be divided into two types: contact type and non-contact type; according to the working principle, the encoder can be divided into two types: incremental type and absolute type. The incremental encoder converts the displacement into a periodic electrical signal, and then converts the electrical signal into a count pulse, and the number of pulses represents the magnitude of the displacement. Each position of the absolute encoder corresponds to a certain digital code, so its indication is only related to the starting and ending positions of the measurement, and has nothing to do with the intermediate process of the measurement.

Specifically, a support cover 21 is provided on the motor rear flange 19, an encoder read head 23 is provided on the support cover 21, and an encoder magnetic ring 22 is provided on the rotor output shaft 4, specifically surrounding the through hole 4a. The conduit 12 passes through the support cover 21 and the encoder read head 23 so that the 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 by means of interference fit, gluing, etc., 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 by means of threaded fasteners, interference fit, and gluing. The method is connected with the rear flange 19 of the motor, and the encoder reading head 23 is connected with the installation support cover 21 of the encoder reading head 23 by means of thread fasteners, interference fit, gluing, etc.; in this way, the encoder reading head 23 The rotation position of the encoder magnetic ring 22 can be read, and then the servo position control of the joint module can be performed.

In a preferred implementation manner of the embodiment of the present utility model, as shown in FIG. 1-FIG. 5, the electric drive joint module further includes:

The encoder cover 24 is connected with the rear flange 19 of the motor;

Both the support cover 21 and the encoder read head 23 are located in the encoder cover 24 .

Specifically, in order to protect the encoder reading head 23 , an encoder cover 24 is provided on the rear flange 19 of the motor, and the support cover 21 and the encoder reading head 23 are enclosed to protect the encoder reading head 23 . The encoder cover 24 is connected to the rear flange 19 of the motor by means of threaded fasteners, interference fit, gluing, etc., and has the function of being dust-proof and waterproof for the joint module.

In a preferred implementation 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 1 b , and the output flange 13 is located on the inner side The wall 1b rotates inside, and the output flange 13 and the inner side wall 1b are rotatably connected through a flange bearing 17 .

Specifically, the output flange 13 is located in the inner side wall 1b and can be rotated in the inner side wall 1b. The output flange 13 is rotatably connected to the inner side of the inner side wall 1b through a flange bearing 17 . That is to say, there is a flange bearing 17 between the stator flange 1 and the output flange 13 , which has the function of supporting and limiting the output flange 13 . There are two flange bearings 17 , 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, which has the function of supporting and limiting the joint module output flange bearing. In order to limit the displacement of the flange bearing 17 , a bearing press cover 5 is provided at the bottom of the inner side wall 1 b , and the flange bearing 17 is clamped by the inner side wall 1 b and the bearing press cover 5 .

In a preferred implementation 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 1 b , and the motor stator 3 and the outer side wall are There is a gap between 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 walls 1a, and the motor rotor 2 is located in the gap and can rotate within the gap. The motor stator 3 is fixed on the stator flange 1 by means of interference fit, gluing, etc. The motor rotor 2 belongs to the outer rotor and is installed on the outer ring of the motor stator 3. There is a gap between the motor rotor 2 and the motor stator 3, so that the motor The rotor 2 can rotate freely relative to the stator 3 of the motor.

Brake: The brake is in a tight state before the motor is powered on, so that the motor cannot rotate. After the motor is powered on, the brake is released, and the motor can be controlled to rotate. The main function of the brake is to stop the operation of the machine when the machine is suddenly cut off due to a fault, and it will not cause an accident due to inertia and gravity.

Based on the electric drive joint module described in any one of the above embodiments, the present invention also provides a preferred embodiment of a robot:

As shown in Figure 1, a robot according to an embodiment of the present invention includes:

The electric drive joint module according to any one of the above embodiments.

It should be understood that the application of the present invention is not limited to the above-mentioned examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above descriptions. All these improvements and transformations should belong to the protection of the appended claims of the present invention. scope.

Claims (10)

1. an electric drive joint module is characterized in that, comprises: Stator flange with accommodating space; an output flange, located in the accommodating space; The threading pipe is connected with the output flange; a reducer, which is sleeved outside the threading pipe; a motor rotor, connected with the threading pipe; a motor stator, arranged on the stator flange; Wherein, the motor stator is arranged around the reducer, and the motor rotor is arranged around the motor stator. 2. The electric drive joint module according to claim 1, wherein the stator flange comprises: outer side wall; an inner side wall, located in the outer side wall; A connecting wall, two ends of the connecting wall are respectively connected to the outer side wall and the inner side wall. 3. The electric drive joint module according to claim 2, wherein the reducer comprises: an inner gear ring, arranged on the inner side wall; a sun gear, sleeved outside the threading pipe; The planetary gear is rotatably connected with the output flange, and the planetary gear is meshed with the ring gear and the sun gear respectively. 4. The electric drive joint module according to claim 3, wherein the output flange is provided with a planetary carrier; the planetary carrier is provided with a planetary pin, and the planetary wheel rotates with the planetary pin connect. 5 . The electric drive joint module according to claim 3 , wherein the motor rotor is connected to the threading pipe through a rotor output shaft; a through hole is provided on the rotor output shaft, and the sun gear is located at the in the through hole. 6. The electric drive joint module according to claim 5, wherein the electric drive joint module further comprises: a rear flange of the motor, located on the side of the rotor output shaft away from the connecting wall; The motor rear flange is rotatably connected with the rotor output shaft through an output shaft bearing. 7. The electric drive joint module according to claim 6, wherein the electric drive joint module further comprises: a support cover, arranged on the rear flange of the motor; an encoder reading head, arranged on the support cover; The encoder magnetic ring is arranged around the edge of the through hole. 8. The electric drive joint module according to claim 7, wherein the electric drive joint module further comprises: an encoder cover, connected with the rear flange of the motor; Both the support cover and the encoder readhead are located within the encoder cover. 9 . The electric drive joint module according to claim 2 , wherein the output flange is located in the inner side wall, the output flange rotates in the inner side wall, and the output flange is connected to the inner side wall. 10 . The inner side walls are rotatably connected by flange bearings; and/or The motor stator is disposed outside the inner side wall, there is a gap 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, characterized in that, comprising: The electric drive joint module according to any one of claims 1-9.

Images