CN217590494U - Speed reduction motor, motor assembly and robot - Google Patents

Abstract

The utility model discloses a gear motor, motor assembly and robot, gear motor includes: the motor assembly is provided with an output shaft, the speed reduction assembly comprises an output shell and a planetary speed reduction mechanism, a mounting cavity is formed in the output shell, at least part of the planetary speed reduction mechanism is arranged in the mounting cavity and connected with the output shell, the output shaft is connected with the planetary speed reduction mechanism, and the output shaft is used for driving the planetary speed reduction mechanism to rotate so as to drive the output shell to rotate. The utility model discloses a gear motor's compact structure, the reliability is higher, and the result of use is better.

Description

Speed reduction motor, motor assembly and robot

Technical Field

The utility model relates to a robotechnology field, concretely relates to gear motor, motor assembly and robot.

Background

The reduction motor is a driving device commonly used for the robot, and is used for driving leg components of the robot so as to enable the robot to move. However, in the related art, the joint speed reduction motor for the robot has the disadvantages of unreasonable structural design, large volume and mass, poor use effect, easy failure of parts in the motor when subjected to instantaneous large torque, and low reliability in work.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving one of the technical problems in the related art at least to a certain extent.

Therefore, the embodiment of the utility model provides a compact structure, the reliability is higher, the better gear motor of result of use.

The embodiment of the utility model provides a motor assembly is still provided.

The embodiment of the utility model provides a robot is still provided.

According to the utility model discloses gear motor includes: a motor assembly having an output shaft; the speed reduction assembly comprises an output shell and a planetary speed reduction mechanism, wherein an installation cavity is formed in the output shell, at least part of the planetary speed reduction mechanism is arranged in the installation cavity and connected with the output shell, the output shaft is connected with the planetary speed reduction mechanism, and the output shaft is used for driving the planetary speed reduction mechanism to rotate so as to drive the output shell to rotate.

According to the utility model discloses a gear motor can slow down the output casing through planet reduction gears to because be equipped with the installation cavity in the output casing, at least partial planet reduction gears locates in the installation cavity, thereby can reduce gear motor's volume and weight, make gear motor structure compacter, and the utility model discloses a gear motor of embodiment slows down through planet reduction gears, can bear great load and impact, and the reliability of during operation is higher, and the result of use is better.

In some embodiments, the planetary reduction mechanism includes a first planetary reduction assembly and a second planetary reduction assembly, both of which are disposed in the mounting cavity, one end of the first planetary reduction assembly is connected to the output shaft, the other end of the first planetary reduction assembly is connected to one end of the second planetary reduction assembly, and the other end of the second planetary reduction assembly is connected to the output housing.

In some embodiments, the first-stage planetary reduction assembly includes an inner ring gear, a first sun gear, a first planet carrier, and a plurality of first planet gears, the inner ring gear is disposed in the mounting cavity and connected to the motor assembly, the plurality of first planet gears are engaged with the first sun gear and the inner ring gear, the first sun gear is coaxially connected to the output shaft, and first planet shafts of the plurality of first planet gears are connected to the first planet carrier; the second-stage planetary reduction assembly comprises a second sun gear, a second planet carrier and a plurality of second planet gears, the second planet gears are meshed with the second sun gear and the inner gear ring, the second sun gear is coaxially connected with the first planet carrier, a plurality of second planet shafts of the second planet gears are connected with the second planet carrier, and the second planet carrier is connected with the output shell.

In some embodiments, the output shaft is integrally formed with the first sun gear, and/or the first carrier is integrally formed with the second sun gear.

In some embodiments, a first bearing is disposed between the ring gear and the output housing, and the first bearing is a crossed roller bearing.

In some embodiments, the outer circumferential wall of the ring gear is provided with a limiting flange, the inner circumferential wall of the output housing is provided with a limiting groove, the planetary reduction mechanism further comprises a retaining ring, the retaining ring is mounted on the inner circumferential wall of the output housing, one end of the first bearing is abutted against the limiting flange and the limiting groove, and the other end of the first bearing is abutted against the retaining ring.

In some embodiments, the reduction ratio of at least one of the first stage planetary reduction assembly and the second stage planetary reduction assembly is greater than or equal to 3 and less than or equal to 6.

In some embodiments, the motor assembly includes a motor casing, a stator, a rotor bracket, and the output shaft, where the stator and the rotor bracket are disposed in the motor casing, one end of the output shaft is coaxially sleeved on the rotor bracket, and the other end of the output shaft extends out of the motor casing.

In some embodiments, the gear motor further includes a support assembly, the support assembly includes a first support plate and a second support plate, the motor assembly further includes a motor casing, the output shaft extends out of the motor casing, the first support plate is disposed at one end of the output casing, which is far away from the casing, and is pivotally connected to the planetary reduction mechanism, one end of the second support plate is connected to the motor casing, and the other end of the second support plate is connected to the first support plate.

According to the utility model discloses a motor assembly of another embodiment, including first gear motor and second gear motor, first gear motor with second gear motor is any above-mentioned embodiment gear motor, first gear motor with second gear motor arranges side by side.

According to the utility model discloses motor assembly can control the different joints of robot respectively through first gear motor and second gear motor, and slows down to the output casing through planet reduction gears, because be equipped with the installation cavity in the output casing, at least partial planet reduction gears locates the installation cavity to can reduce gear motor's volume and weight, make gear motor structure compacter, and the utility model discloses a gear motor of motor assembly slows down through planet reduction gears, can bear great load and impact, and the reliability of during operation is higher, and excellent in use effect.

In some embodiments, the first reduction motor includes a first motor housing, a first output shaft extending out of the first motor housing and connected to the first reduction assembly, and a first reduction assembly, the second reduction motor includes a second motor housing, a second output shaft extending out of the second motor housing and connected to the second reduction assembly, the first reduction assembly and the second reduction assembly are arranged side by side, and the first motor housing and the second motor housing are integrally formed.

In some embodiments, the motor assembly further includes a supporting component, the supporting component includes a first supporting plate and a second supporting plate, the first supporting plate is disposed at one end of the first speed reduction component away from the first motor casing, the first supporting plate is pivotally connected to the first speed reduction component and the second speed reduction component, the second supporting plate is disposed between the first speed reduction component and the second speed reduction component, one end of the second supporting plate is connected to the first motor casing and/or the second motor casing, and the other end of the second supporting plate is connected to the first supporting plate.

According to the utility model discloses a robot of still another embodiment, including the gear motor of any one of the above-mentioned embodiments or the motor assembly of any one of the above-mentioned embodiments.

According to the utility model discloses a gear motor of robot's compact structure, the reliability of work is higher, and the result of use is better.

Drawings

Fig. 1 is an isometric view of an electric motor assembly according to an embodiment of the present invention.

Fig. 2 is a front view of a motor assembly according to an embodiment of the present invention.

Fig. 3 is a cross-sectional view of an electric motor assembly according to an embodiment of the present invention.

Fig. 4 is a sectional view of a reduction motor according to an embodiment of the present invention.

Fig. 5 is a sectional view of a reduction assembly of a reduction motor according to an embodiment of the present invention.

Reference numerals are as follows:

1000. a motor assembly;

100. a reduction motor; 110. a first reduction motor; 120. a second reduction motor;

11. a motor assembly; 111. an output shaft; 1111. a first output shaft; 1112. a second output shaft; 112. a motor casing; 1121. a first motor case; 1122. a second motor case; 1123. a front cover; 1124. a rear cover; 1125. a housing body; 113. a stator; 114. a rotor support;

12. a speed reduction assembly; 121. a first speed reduction assembly; 122. a second reduction assembly; 123. an output housing; 1231. a mounting cavity; 1232. a limiting groove; 124. a planetary reduction mechanism; 1241. a first stage planetary reduction assembly; 12411. an inner gear ring; 124111, a limit flange; 12412. a first sun gear; 12413. a first carrier; 12414. a first planet gear; 12415. a first planet shaft; 1242. a second stage planetary reduction assembly; 12421. a second sun gear; 12422. a second planet carrier; 12423. a second planet wheel; 12424. a second planet shaft; 1243. a first bearing; 1244. a retainer ring; 1245. a second bearing; 125. a support assembly; 1251. a first support plate; 1252. a second support plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary intended for explaining the present invention, and should not be construed as limiting the present invention.

The gear motor 100, the motor assembly 1000, and the robot according to the embodiment of the present invention will be described with reference to fig. 1 to 5.

As shown in fig. 4 and 5, the reduction motor 100 according to the embodiment of the present invention includes a motor assembly 11 and a reduction assembly 12, the motor assembly 11 has an output shaft 111, the reduction assembly 12 includes an output housing 123 and a planetary reduction mechanism 124, a mounting cavity 1231 is provided in the output housing 123, at least a part of the planetary reduction mechanism 124 is provided in the mounting cavity 1231 and connected to the output housing 123, the output shaft 111 is connected to the planetary reduction mechanism 124, and the output shaft 111 is used for driving the planetary reduction mechanism 124 to rotate so as to drive the output housing 123 to rotate.

According to the utility model discloses a gear motor 100 can slow down output housing 123 through planetary reduction mechanism 124 to because be equipped with installation cavity 1231 in the output housing 123, at least partial planetary reduction mechanism 124 is located in installation cavity 1231, thereby can reduce gear motor 100's volume and weight, make gear motor 100 structure compacter, and the utility model discloses a gear motor 100 slows down through planetary reduction mechanism 124, can bear great load and impact, and the reliability of during operation is higher, and the result of use is better.

It can be understood that, as shown in fig. 4 and 5, the output housing 123 is used for outputting power to the outside, the output housing 123 is disposed at one end of the motor assembly 11, which penetrates through the output shaft 111, and the output housing 123 is provided with a mounting position for mounting other additional components. At least a portion of planetary reduction mechanism 124 is disposed within mounting cavity 1231, it being understood that a portion of the components of planetary reduction mechanism 124 are disposed within mounting cavity 1231, or all of the components of planetary reduction mechanism 124 are disposed within mounting cavity 1231. Since the output housing 123 constitutes an outer frame of the reduction assembly 12, it is advantageous to reduce the design size of the reduction motor 100 and to make the structure of the reduction motor 100 more compact.

In the related art, a decelerator for a robot is generally a cycloid decelerator or a harmonic decelerator. However, through experimental research, the inventor finds that when the driving structure of the robot is a cycloidal reducer + a motor, the size and the mass of the motor are large, which is not beneficial to the miniaturization design of the driving joint position of the robot, and the use effect is poor. On the other hand, when the driving structure of the robot is the harmonic reducer + motor, the motor of this type cannot bear large load and impact, and when the motor is subjected to a large moment, the flexible gear of the harmonic reducer may fail.

Compared with the two motors, the speed reduction motor 100 of the embodiment of the present invention has light weight and can powerfully support the energy torque ratio of the robot joint. Additionally, the utility model discloses the driven limit torque of gear motor 100 is great, still has higher security under big moment of torsion, and its tooth is difficult to the rupture, and life is longer to the price is cheap relatively, and manufacturing is convenient, and packaging efficiency is higher.

In some embodiments, as shown in fig. 4 and 5, the planetary reduction mechanism 124 includes a first stage planetary reduction assembly 1241 and a second stage planetary reduction assembly 1242, the first stage planetary reduction assembly 1241 and the second stage planetary reduction assembly 1242 are both disposed within the mounting cavity 1231, one end of the first stage planetary reduction assembly 1241 (e.g., the lower end of the first stage planetary reduction assembly 1241 in fig. 4) is coupled to the output shaft 111, the other end of the first stage planetary reduction assembly 1241 (e.g., the upper end of the first stage planetary reduction assembly 1241 in fig. 4) is coupled to one end of the second stage planetary reduction assembly 1242 (e.g., the lower end of the second stage planetary reduction assembly 1242 in fig. 4), and the other end of the second stage planetary reduction assembly 1242 (e.g., the upper end of the second stage planetary reduction assembly 1242 in fig. 4) is coupled to the output housing 123.

It can be understood that, as shown in fig. 4 and 5, when the reduction motor 100 is operated, the motor assembly 11 drives the output shaft 111 to rotate, the output shaft 111 drives the first-stage planetary reduction assembly 1241 to rotate, the first-stage planetary reduction assembly 1241 performs a first reduction on the rotation speed of the output shaft 111 and then transmits power to the second-stage planetary reduction assembly 1242, and the second-stage planetary reduction assembly 1242 performs a second reduction on the rotation speed of the first-stage planetary reduction assembly 1241 and then transmits power to the output housing 123. The utility model discloses a gear motor 100 can improve the speed reduction effect of planetary reduction mechanism 124 through the planetary reduction mechanism 124 that sets up the two-stage speed reduction, and makes planetary reduction mechanism 124's volume less.

Optionally, the reduction ratios of the first stage planetary reduction assemblies 1241 are all equal to or greater than 3 and equal to or less than 6. For example, the first stage planetary reduction assembly 1241 has a reduction ratio of 3, 4, 5, or 6. The reduction ratios of the second-stage planetary reduction assembly 1242 are all equal to or greater than 3 and equal to or less than 6. For example, the second stage planetary reduction assembly 1242 has a reduction ratio of 3, 4, 5, or 6. It will be appreciated that the reduction ratios of the first stage planetary reduction assembly 1241 and the second stage planetary reduction assembly 1242 may be designed according to actual design requirements. For example, the first stage planetary reduction assembly 1241 and the second stage planetary reduction assembly 1242 each have a reduction ratio of 4. The utility model discloses a reduction ratio of gear motor 100 of embodiment adopts above-mentioned numerical value, can be so that gear motor 100's structural design is more reasonable, can satisfy the articulated user demand of most robots, and the result of use is better.

Specifically, as shown in fig. 4 and 5, the first-stage planetary reduction assembly 1241 includes an inner ring gear 12411, a first sun gear 12412, a first carrier 12413, and a plurality of first planet gears 12414, and in the embodiment shown in fig. 5, the first planet gears 12414 are four. Ring gear 12411 is disposed in mounting cavity 1231, and one end of ring gear 12411 (e.g., the lower end of ring gear 12411 in fig. 4) is connected to motor assembly 11, first planetary gears 12414 are engaged with first sun gear 12412 and ring gear 12411, first sun gear 12412 is coaxially connected to output shaft 111, and first planet shafts 12415 of first planetary gears 12414 are connected to first planet carrier 12413. The second stage planetary reduction assembly 1242 includes a second sun gear 12421, a second planet carrier 12422, and a plurality of second planet gears 12423, four second planet gears 12423 in the embodiment shown in fig. 5. A plurality of second planet gears 12423 are in mesh with a second sun gear 12421 and an annulus gear 12411, the second sun gear 12421 is coaxially connected with a first planet carrier 12413, second planet shafts 12424 of the plurality of second planet gears 12423 are connected with a second planet carrier 12422, and the second planet carrier 12422 is connected with the output housing 123.

It is understood that, as shown in fig. 4 and 5, when the reduction motor 100 is operated, the output shaft 111 rotates the first sun gear 12412, the first sun gear 12412 rotates the first planet gear 12414 and the first planet shaft 12415, and the first planet shaft 12415 rotates the first planet carrier 12413. Since the first planet carrier 12413 is connected to the second sun gear 12421, so as to drive the second sun gear 12421 to rotate, the second sun gear 12421 drives the second planet gears 12423 and the second planet shaft 12424 to rotate, and the second planet shaft 12424 drives the output housing 123 to rotate.

For example, as shown in fig. 4 and 5, the output shaft 111 is integrally formed with the first sun gear 12412, and the first carrier 12413 is integrally formed with the second sun gear 12421. The utility model discloses a gear motor 100 of embodiment adopts above-mentioned setting, can reduce the equipment process, improves production efficiency to manufacturing is simple, and the cost is lower.

In some embodiments, as shown in fig. 4 and 5, a first bearing 1243 is provided between the ring gear 12411 and the output housing 123, and the first bearing 1243 is a cross roller bearing. It can be understood that output housing 123 can rotate relative to ring gear 12411 and keep apart from each other with ring gear 12411's rotational speed, the utility model discloses speed reduction motor 100 can guarantee the accuracy when output housing 123 rotates through setting up first bearing 1243 as the cross roller bearing to make output housing 123 can bear radial and axial power simultaneously, improved output housing 123 driven reliability.

Alternatively, as shown in fig. 4 and 5, the outer peripheral wall of the ring gear 12411 is provided with an annular limit flange 124111, the inner peripheral wall of the output housing 123 is provided with an annular limit groove 1232, the planetary reduction mechanism 124 further includes a retaining ring 1244, the retaining ring 1244 is mounted on the inner peripheral wall of the output housing 123, one end of the first bearing 1243 abuts against the limit flange 124111 and the limit groove 1232, and the other end of the first bearing 1243 abuts against the retaining ring 1244. It can be understood that, as shown in fig. 5, the upper end of the outer ring of the first bearing 1243 abuts against the limiting groove 1232, the lower end of the outer ring of the first bearing 1243 abuts against the retaining ring 1244, and the upper end of the inner ring of the first bearing 1243 abuts against the limiting flange 124111, so that the problem of axial movement of the first bearing 1243 can be avoided, the stability of the first bearing 1243 after being mounted is improved, and the service life of the reduction motor 100 is prolonged.

Specifically, as shown in fig. 4 and fig. 3 to 5, the motor assembly 11 includes a motor casing 112, a stator 113, a rotor bracket 114 and an output shaft 111, the stator 113 and the rotor bracket 114 are disposed in the motor casing 112, one end of the output shaft 111 (e.g., the lower end of the output shaft 111 in fig. 4) is coaxially sleeved on the rotor bracket 114, and the other end of the output shaft 111 (e.g., the upper end of the output shaft 111 in fig. 4) extends out of the motor casing 112 and is coaxially connected to the first sun gear 12412, for example, the output shaft 111 and the rotor bracket 114 may be connected in an interference fit manner or may be connected in a pin shaft manner. It can be understood that, when the geared motor 100 is in operation, the winding coil on the stator 113 drives the rotor support 114 to rotate, the rotor support 114 drives the output shaft 111 to rotate, the output shaft 111 drives the first sun gear 12412 to rotate, so that the planetary reduction gear 124 rotates, and the output housing 123 can be driven to rotate.

Alternatively, as shown in fig. 3 to 5, the motor housing 112 includes a front cover 1123, a rear cover 1124 and a housing body 1125, and the front cover 1123 and the rear cover 1124 are respectively disposed at two ends of the housing body 1125 along a length direction (e.g., an up-down direction in fig. 4) of the housing body 1125. Specifically, the front cover 1123 is disposed at the front end of the housing body 1125, and the rear cover 1124 is disposed at the rear end of the housing body 1125. The front cover 1123 and the rear cover 1124 are respectively connected to the housing body 1125 by bolts, so that the motor assembly 11 can be easily mounted and dismounted, and the production efficiency of the reduction motor 100 can be improved.

In some embodiments, as shown in fig. 3 to 5, the geared motor 100 further includes a support assembly 125, the support assembly 125 includes a first support plate 1251 and a second support plate 1252, the first support plate 1251 is disposed at an end of the output housing 123 facing away from the housing and is pivotally connected to the planetary reduction mechanism 124, one end of the second support plate 1252 is connected to the motor housing 112, and the other end of the second support plate 1252 is connected to the first support plate 1251. It can be understood that, as shown in fig. 4, the first support plate 1251 is connected to the second carrier 12422, a second bearing 1245 is provided between the second carrier 12422 and the first support plate 1251, the second carrier 12422 is rotatable relative to the first support plate 1251 through the second bearing 1245, a lower end of the first support plate 1251 is connected to the front cover 1123, and an upper end of the second support plate 1252 is connected to the first support plate 1251, so that a support space is defined between the second support plate 1252 and the front cover 1123, thereby improving stability when the output housing 123 and the planetary reduction mechanism 124 rotate, and further improving transmission accuracy of the reduction motor 100.

As shown in fig. 1 to fig. 3, a motor assembly 1000 according to another embodiment of the present invention includes a first gear motor 110 and a second gear motor 120, and the first gear motor 110 and the second gear motor 120 are the gear motor 100 of the present invention, and the first gear motor 110 and the second gear motor 120 are arranged side by side.

According to the utility model discloses motor assembly 1000, can control the different joints of robot respectively through first gear motor 110 and second gear motor 120, and slow down to output casing 123 through planet reduction gears 124, owing to be equipped with installation cavity 1231 in the output casing 123, at least some planet reduction gears 124 locate in installation cavity 1231 to can reduce gear motor 100's volume and weight, make gear motor 100 structure compacter, and the utility model discloses a gear motor 100 of motor assembly 1000's of embodiment slows down through planet reduction gears 124, can bear great load and impact, and the reliability of during operation is higher, and the result of use is better.

Alternatively, as shown in fig. 1 to 3, the first reduction motor 110 includes a first motor housing 1121, a first output shaft 1111 and a first reduction assembly 121, the first output shaft 1111 extends out of the first motor housing 1121 and is connected to the first reduction assembly 121, the second reduction motor 120 includes a second motor housing 1122, a second output shaft 1112 and a second reduction assembly 122, and the second output shaft 1112 extends out of the second motor housing 1122 and is connected to the second reduction assembly 122. First speed reduction subassembly 121 and second speed reduction subassembly 122 are speed reduction subassembly 12 of gear motor 100 in the embodiment of the present invention, and first speed reduction subassembly 121 and second speed reduction subassembly 122 are arranged side by side.

It will be appreciated that the output housing 123 of the first reduction assembly 121 is arranged side by side and independently controlled from the output housing 123 of the second reduction assembly 122, the output housing 123 of the first reduction assembly 121 may be connected to a thigh joint of the robot, and the output housing 123 of the second reduction assembly 122 may be connected to a calf joint of the robot. The utility model discloses motor assembly 1000 arranges through adopting above-mentioned structure, can be so that motor assembly 1000's structure is compacter, is convenient for carry out the optimal arrangement to the shank of robot, and the result of use is better.

Alternatively, as shown in fig. 1 to 3, first motor housing 1121 and second motor housing 1122 are integrally formed. Specifically, the front cover 1123 of the first motor shell 1121 and the front cover 1123 of the second motor shell 1122 are integrally formed, the housing body 1125 of the first motor shell 1121 and the housing body 1125 of the second motor shell 1122 are integrally formed, and the rear cover 1124 of the first motor shell 1121 and the rear cover 1124 of the second motor shell 1122 are integrally formed. When motor assembly 1000 assembles, can assemble first motor shell 1121 and second motor shell 1122 simultaneously to can reduce the equipment process, and because first motor shell 1121 and second motor shell 1122 are integrated into one piece, thereby can conveniently process manufacturing, manufacturing cost is lower, and makes motor assembly 1000's structural strength higher, and life is longer.

Optionally, as shown in fig. 1 to 3, the motor assembly 1000 further includes a support component 125, the support component 125 includes a first support plate 1251 and a second support plate 1252, the first support plate 1251 is disposed at an end of the first speed reduction component 121 facing away from the first motor housing 1121, the first support plate 1251 is pivotally connected to the first speed reduction component 121 and the second speed reduction component 122, the second support plate 1252 is disposed between the first speed reduction component 121 and the second speed reduction component 122, one end of the second support plate 1252 is connected to the first motor housing 1121 or the second motor housing 1122, and the other end of the second support plate 1252 is connected to the first support plate 1251.

It is understood that, as shown in fig. 2 and 3, the lower end of the first support plate 1251 is connected to the front cover 1123, the upper end of the second support plate 1252 is connected to the first support plate 1251, and the first support plate 1251, the second support plate 1252 and the front cover 1123 may substantially enclose an H-shaped frame. For example, as shown in fig. 3, first reduction assembly 121 is disposed on the left side of second support plate 1252, and an upper end of first reduction assembly 121 is connected to first support plate 1251, and a lower end of first reduction assembly 121 is connected to front cover 1123 of first motor housing 1121. The second decelerating component 122 is disposed on the right side of the second supporting plate 1252, the upper end of the second decelerating component 122 is connected to the first supporting plate 1251, and the lower end of the second decelerating component 122 is connected to the front cover 1123 of the second motor casing 1122, so as to improve the stability of the first decelerating component 121 and the second decelerating component 122 during transmission, and further improve the transmission accuracy of the motor assembly 1000.

According to the utility model discloses a robot of still another embodiment, include the utility model discloses a gear motor 100 or motor assembly 1000. Specifically, the robot includes a thigh connected to the first reduction motor 110 and a calf connected to the second reduction motor 120.

According to the utility model discloses a compact structure of robot, the reliability of work is higher, and transmission effect is better.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (13)

1. A geared motor, comprising:

a motor assembly having an output shaft;

the speed reduction assembly comprises an output shell and a planetary speed reduction mechanism, wherein an installation cavity is formed in the output shell, at least part of the planetary speed reduction mechanism is arranged in the installation cavity and connected with the output shell, the output shaft is connected with the planetary speed reduction mechanism, and the output shaft is used for driving the planetary speed reduction mechanism to rotate so as to drive the output shell to rotate.

2. The reduction motor according to claim 1, wherein the planetary reduction mechanism includes a first-stage planetary reduction assembly and a second-stage planetary reduction assembly, the first-stage planetary reduction assembly and the second-stage planetary reduction assembly are both provided in the mounting chamber, one end of the first-stage planetary reduction assembly is connected to the output shaft, the other end of the first-stage planetary reduction assembly is connected to one end of the second-stage planetary reduction assembly, and the other end of the second-stage planetary reduction assembly is connected to the output housing.

3. The reduction motor according to claim 2, wherein the first stage planetary reduction assembly includes an annular gear, a first sun gear, a first carrier, and a plurality of first planet gears, the annular gear is disposed in the mounting cavity and coupled to the motor assembly, the plurality of first planet gears are engaged with the first sun gear and the annular gear, the first sun gear is coaxially coupled to the output shaft, first planet shafts of the plurality of first planet gears are coupled to the first carrier,

the second-stage planetary reduction assembly comprises a second sun gear, a second planet carrier and a plurality of second planet gears, the second planet gears are meshed with the second sun gear and the inner gear ring, the second sun gear is coaxially connected with the first planet carrier, second planet shafts of the second planet gears are connected with the second planet carrier, and the second planet carrier is connected with the output shell.

4. The reduction motor according to claim 3, wherein the output shaft is formed integrally with the first sun gear, and/or the first carrier is formed integrally with the second sun gear.

5. The reduction motor according to claim 3, wherein a first bearing is provided between the ring gear and the output housing, and the first bearing is a cross roller bearing.

6. The reduction motor according to claim 5, wherein an outer peripheral wall of the ring gear is provided with a limit flange, an inner peripheral wall of the output housing is provided with a limit groove, the planetary reduction mechanism further comprises a retainer ring mounted on the inner peripheral wall of the output housing, one end of the first bearing abuts against the limit flange and the limit groove, and the other end of the first bearing abuts against the retainer ring.

7. The reduction motor of claim 2, wherein at least one of the first stage planetary reduction assembly and the second stage planetary reduction assembly has a reduction ratio of 3 or more and 6 or less.

8. The gear motor according to claim 1, wherein the motor assembly comprises a motor casing, a stator, a rotor bracket and the output shaft, the stator and the rotor bracket are arranged in the motor casing, one end of the output shaft is coaxially sleeved on the rotor bracket, and the other end of the output shaft extends out of the motor casing.

9. The gear motor according to any one of claims 1 to 8, further comprising a support assembly, wherein the support assembly comprises a first support plate and a second support plate, the motor assembly further comprises a motor housing, the output shaft extends out of the motor housing, the first support plate is arranged at one end of the output housing, which is far away from the housing, and is pivotally connected with the planetary reduction mechanism, one end of the second support plate is connected with the motor housing, and the other end of the second support plate is connected with the first support plate.

10. An electric machine assembly comprising a first gear motor and a second gear motor, both of which are gear motors according to any one of claims 1 to 9, the first gear motor and the second gear motor being arranged side by side.

11. The motor assembly of claim 10, wherein the first reduction motor comprises a first motor housing, a first output shaft and a first reduction assembly, the first output shaft extends out of the first motor housing and is connected with the first reduction assembly, the second reduction motor comprises a second motor housing, a second output shaft and a second reduction assembly, the second output shaft extends out of the second motor housing and is connected with the second reduction assembly, the first reduction assembly and the second reduction assembly are arranged side by side, and the first motor housing and the second motor housing are integrally formed.

12. The motor assembly according to claim 11, further comprising a supporting member, wherein the supporting member comprises a first supporting plate and a second supporting plate, the first supporting plate is disposed at an end of the first decelerating component away from the first motor casing, the first supporting plate is pivotally connected to the first decelerating component and the second decelerating component, the second supporting plate is disposed between the first decelerating component and the second decelerating component, one end of the second supporting plate is connected to the first motor casing and/or the second motor casing, and the other end of the second supporting plate is connected to the first supporting plate.

13. A robot comprising a gearmotor according to any one of claims 1 to 9 or a motor assembly according to any one of claims 10 to 12.

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