CN217046405U - Joint motor and exoskeleton structure - Google Patents
Joint motor and exoskeleton structure Download PDFInfo
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- CN217046405U CN217046405U CN202220345895.2U CN202220345895U CN217046405U CN 217046405 U CN217046405 U CN 217046405U CN 202220345895 U CN202220345895 U CN 202220345895U CN 217046405 U CN217046405 U CN 217046405U
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- joint
- motor shaft
- motor
- harmonic reducer
- shaft
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Abstract
The utility model discloses a joint motor and exoskeleton structure, the joint motor comprises a first joint shell, a second joint shell, a motor shaft, a harmonic reducer, a magnetic ring and a stator coil, wherein the harmonic reducer is fixed in the first joint shell, the motor shaft is rotatably installed in the second joint shell, and one end of the motor shaft is connected with the harmonic reducer; the magnetic ring is sleeved on the outer peripheral side of the motor shaft, and the stator coil is sleeved on the outer peripheral side of the magnetic ring; the middle part cavity of motor shaft just wears to be equipped with the installation pole, the one end of installation pole with first joint shell links to each other, the other end of installation pole is equipped with the magnetic path, the outside of second joint shell is equipped with magnetism angle detection spare for detect the angle of magnetic path in order to obtain joint turned angle. The utility model has the advantages of simple and compact structure, small volume, light weight and the like.
Description
Technical Field
The utility model mainly relates to an ectoskeleton technical field, concretely relates to joint motor and ectoskeleton structure.
Background
Most of the existing robot joints adopt disc type motors connected with speed reducers or non-disc type motors. The joint is driven through gear transmission, so that power is provided. The mode wastes a large space of the robot, so that the whole structure becomes overstaffed, and the weight of the robot is increased, so that the weight and the volume are large; energy loss is caused by gear transmission, and the abrasion of the gears also influences the service life of the whole body; if the disc motor is connected to the skeleton support, the whole body is thick and heavy, and the whole weight is still heavy.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is that: to the problem that prior art exists, the utility model provides a simple structure is compact, small, light in weight's joint motor and ectoskeleton structure.
In order to solve the technical problem, the utility model provides a technical scheme does:
a joint motor comprises a first joint shell, a second joint shell, a motor shaft, a harmonic reducer, a magnetic ring and a stator coil, wherein the harmonic reducer is fixed in the first joint shell; the magnetic ring is sleeved on the outer peripheral side of the motor shaft, and the stator coil is sleeved on the outer peripheral side of the magnetic ring; the middle part of motor shaft cavity just wears to be equipped with the installation pole, the one end of installation pole with first joint shell links to each other, the other end of installation pole is equipped with the magnetic path, the outside of second joint shell is equipped with magnetism angle detection spare for the angle of detecting the magnetic path is in order to obtain joint turned angle.
As a further improvement of the technical scheme:
the harmonic reducer is installed in the first joint shell through an installation assembly, the installation assembly comprises a harmonic flange, a supporting flange, a pressing shaft piece and a supporting cover, the harmonic flange is located between one side of the harmonic reducer and the first joint shell, the supporting flange is located on the other side of the harmonic reducer and fixed on the harmonic reducer through the pressing shaft piece, and the supporting cover covers the opening of the first joint shell.
A first bearing is arranged between the shaft pressing piece and the supporting cover, a top cover is arranged at the opening of the second joint shell, a second bearing is arranged at the other end of the top cover and the other end of the motor shaft, and two ends of the motor shaft are rotatably arranged in the first bearing and the second bearing.
And the middle part of the harmonic reducer is provided with a shaft hole, and one end of the motor shaft passes through the first bearing and then is positioned in the shaft hole.
One end of the motor shaft is connected with the harmonic flange through a bolt or/and a pin key.
The joint comprises a first joint shell and a second joint shell, wherein a stud is arranged in the first joint shell, an internal thread is arranged in the stud, and one end of the mounting rod is in threaded connection with the stud.
The magnetic angle detection piece comprises a magnetic coding plate.
The utility model also discloses an ectoskeleton structure, including first ectoskeleton and second ectoskeleton, still include as above joint motor, first ectoskeleton with first joint shell links to each other, the second ectoskeleton with second joint shell links to each other.
Compared with the prior art, the utility model has the advantages of:
the joint motor of the utility model adopts the installation rod passing through the motor shaft to install the magnetic block and then detects the magnetic block through the magnetic angle detection piece, the installation rod passes through the motor shaft, has simple and compact structure (such as reducing the thickness of the joint), and avoids the problem that a bracket is designed independently to occupy larger space; the whole structure is simple and compact, the volume is small, the weight is light, and screws required for fixing can be reduced; in addition, the joint motor does not need to be provided with structures such as motor fixing structures, gears and the like, and the structural size is further reduced.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic view of the structure of the embodiment of the present invention.
Fig. 3 is a view B-B of fig. 2.
Fig. 4 is a schematic diagram of an explosion structure according to an embodiment of the present invention.
Fig. 5 is an exploded view of the embodiment of the present invention.
Illustration of the drawings: 1. a first joint housing; 2. a harmonic flange; 3. a harmonic speed reducer; 4. a support flange; 5. pressing a shaft sheet; 6. a first bearing; 7. a support cover; 8. a second joint housing; 9. a motor shaft; 10. stator tabletting; 11. a magnetic ring; 12. a stator coil; 13. a magnetic block; 14. a second bearing; 15. a top cover; 16. a magnetic angle detection member; 17. and (7) installing a rod.
Detailed Description
The invention is further described with reference to the drawings and the specific embodiments.
As shown in fig. 1 to 5, the joint motor according to the embodiment of the present invention includes a first joint housing 1, a second joint housing 8, a motor shaft 9, a harmonic reducer 3, a magnetic ring 11, and a stator coil 12, wherein the harmonic reducer 3 is fixed in the first joint housing 1, the motor shaft 9 is rotatably installed in the second joint housing 8, and one end of the motor shaft is connected to the harmonic reducer 3; the magnetic ring 11 is sleeved on the outer peripheral side of the motor shaft 9, and the stator coil 12 is sleeved on the outer peripheral side of the magnetic ring 11; the middle part of motor shaft 9 is hollow and wears to be equipped with installation pole 17, and the one end of installation pole 17 links to each other with first joint shell 1, and the other end of installation pole 17 is equipped with magnetic path 13, and the outside of second joint shell 8 is equipped with magnetism angle detection spare 16 (like the magnetic encoding board) for detect the angle of magnetic path 13 in order to obtain joint turned angle. The joint motor of the utility model adopts the installation rod 17 penetrating through the motor shaft 9 to install the magnetic block 13, and then the detection is carried out through the magnetic angle detection piece 16, the installation rod 17 has simple and compact structure penetrating through the motor shaft 9, the thickness of the joint is reduced, and the problem that a bracket for installing the magnetic block 13 is designed independently to occupy larger space is avoided; the whole structure is simple and compact, the volume is small, the weight is light, and screws required for fixing can be reduced; in addition, the joint motor does not need to be designed with structures such as motor fixing and gears, and the structure volume is further reduced.
In a specific embodiment, the harmonic reducer 3 is installed in the first joint housing 1 through an installation component, the installation component includes a harmonic flange 2, a support flange 4, a pressure shaft piece 5 and a support cover 7, the harmonic flange 2 is located between one side of the harmonic reducer 3 and the first joint housing 1, the support flange 4 is located at the other side of the harmonic reducer 3 and is fixed on the harmonic reducer 3 through the pressure shaft piece 5, and the support cover 7 is covered at the opening of the first joint housing 1. The mounting assembly is simple and reliable in structure.
In a specific embodiment, a first bearing 6 is arranged between the shaft pressing sheet 5 and the supporting cover 7, a top cover 15 is arranged at the opening of the second joint housing 8, a second bearing 14 is arranged at the other end of the top cover 15 and the motor shaft 9, and two ends of the motor shaft 9 are rotatably arranged in the first bearing 6 and the second bearing 14. The middle part of the harmonic reducer 3 is provided with a shaft hole, and one end of a motor shaft 9 passes through the first bearing 6 and then is positioned in the shaft hole and is connected with the harmonic flange 2 through a bolt or/and a pin key.
In a specific embodiment, a stud is arranged inside the first joint shell 1, internal threads are arranged in the stud, and one end of the mounting rod 17 is in threaded connection with the stud, so that the connection is convenient and reliable. In addition, a cavity is arranged on one side of the second joint shell 8, and can be used for accommodating components such as a motor driving plate and the like, so that the compactness of the whole structure is ensured. Of course, the motor drive board and other components may be installed in the corresponding cavity of the first joint housing 1 according to the requirements.
When the assembly is carried out, the stator coil 12 is tightly matched and connected with the second joint shell 8, the stator pressing sheet 10 presses the stator coil 12 to prevent the stator coil 12 from shaking, and the magnetic ring 11 is tightly matched and connected with the motor shaft 9. The first bearing 6 and the second bearing 14 position the motor shaft 9 to ensure that the motor shaft 9 can normally rotate, the front end of the motor shaft 9 is connected with the input shaft of the harmonic reducer 3 to drive the harmonic reducer 3 to rotate, and finally the output shaft of the harmonic reducer 3 is connected with the first joint shell 1, so that the first joint shell 1 rotates. Wherein the harmonic flange 2 and the supporting flange 4 fix and position the input end of the harmonic reducer 3. For judging the rotation angle, the first joint shell 1 is connected with a mounting rod 17, wherein the middle of a motor shaft 9 is hollow, the mounting rod 17 can penetrate through the mounting rod, a magnetic block 13 is fixed at the upper end of the mounting rod 17, and a magnetic encoding plate is matched with the magnetic block 13 to detect the rotation angle of the joint motor. The magnetic encoding plate then transmits the rotation angle to the motor control board, wherein the motor control board is located in the first joint housing 1 or the second joint housing 8.
The joint motor of the utility model, as a main body, comprises a rotor, a stator, a harmonic reducer 3, a magnetic encoder, a control panel and other parts; the above components are combined together, so that the functions of power output, torque amplification, angle change, joint control and the like can be realized, and the characteristics of thinness and small diameter of the joint motor can be ensured under the condition of large torque.
The utility model also discloses an ectoskeleton structure, including first ectoskeleton, second ectoskeleton and as above joint motor, first ectoskeleton links to each other with first joint shell 1, and the second ectoskeleton links to each other with second joint shell 8. The exoskeleton structure of the utility model also has the advantages of simple and compact structure, small volume, light weight and the like.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that various modifications and decorations can be made by those skilled in the art without departing from the principle of the present invention, and the scope of the present invention should be considered as the protection scope of the present invention.
Claims (8)
1. A joint motor is characterized by comprising a first joint shell (1), a second joint shell (8), a motor shaft (9), a harmonic reducer (3), a magnetic ring (11) and a stator coil (12), wherein the harmonic reducer (3) is fixed in the first joint shell (1), the motor shaft (9) is rotatably arranged in the second joint shell (8), and one end of the motor shaft is connected with the harmonic reducer (3); the magnetic ring (11) is sleeved on the outer peripheral side of the motor shaft (9), and the stator coil (12) is sleeved on the outer peripheral side of the magnetic ring (11); the middle part cavity of motor shaft (9) just wears to be equipped with installation pole (17), the one end of installation pole (17) with first joint shell (1) links to each other, the other end of installation pole (17) is equipped with magnetic path (13), the outside of second joint shell (8) is equipped with magnetism angle detection spare (16) for detect the angle of magnetic path (13) in order to obtain joint turned angle.
2. The joint motor according to claim 1, wherein the harmonic reducer (3) is mounted in the first joint housing (1) through a mounting assembly, the mounting assembly comprises a harmonic flange (2), a support flange (4), a pressure shaft sheet (5) and a support cover (7), the harmonic flange (2) is located between one side of the harmonic reducer (3) and the first joint housing (1), the support flange (4) is located at the other side of the harmonic reducer (3) and is fixed on the harmonic reducer (3) through the pressure shaft sheet (5), and the support cover (7) covers an opening of the first joint housing (1).
3. The joint motor according to claim 2, wherein a first bearing (6) is arranged between the shaft pressing sheet (5) and the supporting cover (7), a top cover (15) is arranged at an opening of the second joint housing (8), a second bearing (14) is arranged at the other end of the top cover (15) and the motor shaft (9), and two ends of the motor shaft (9) are rotatably arranged in the first bearing (6) and the second bearing (14).
4. The joint motor according to claim 3, wherein a shaft hole is formed in the middle of the harmonic reducer (3), and one end of the motor shaft (9) passes through the first bearing (6) and is located in the shaft hole.
5. Joint motor according to claim 2 or 3 or 4, characterised in that one end of the motor shaft (9) is connected to the harmonic flange (2) by means of bolts or/and pins.
6. The joint motor according to any one of claims 1 to 4, wherein a stud is arranged inside the first joint housing (1), an internal thread is arranged inside the stud, and one end of the mounting rod (17) is in threaded connection with the stud.
7. Joint motor according to any of claims 1-4, characterized in that said magnetic angle detection element (16) comprises a magnetic encoder plate.
8. An exoskeleton structure comprising a first exoskeleton and a second exoskeleton, further comprising a joint motor as claimed in any one of claims 1 to 7, the first exoskeleton being connected to the first joint housing (1) and the second exoskeleton being connected to the second joint housing (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220345895.2U CN217046405U (en) | 2022-02-21 | 2022-02-21 | Joint motor and exoskeleton structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220345895.2U CN217046405U (en) | 2022-02-21 | 2022-02-21 | Joint motor and exoskeleton structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217046405U true CN217046405U (en) | 2022-07-26 |
Family
ID=82486721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220345895.2U Active CN217046405U (en) | 2022-02-21 | 2022-02-21 | Joint motor and exoskeleton structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217046405U (en) |
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2022
- 2022-02-21 CN CN202220345895.2U patent/CN217046405U/en active Active
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