CN219041547U

CN219041547U - Motor drive energy storage structure and robot

Info

Publication number: CN219041547U
Application number: CN202220535717.6U
Authority: CN
Inventors: 郁亚南; 张益通; 廖铉泓; 吴建波; 蓝博
Original assignee: Dongguan Benmo Technology Co Ltd
Current assignee: Dongguan Benmo Technology Co Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2023-05-16
Anticipated expiration: 2032-03-10

Abstract

The utility model relates to the technical field of robot driving, in particular to a motor driving energy storage structure and a robot. According to the utility model, the power storage and energy storage structure is arranged on the motor, the motor body is connected with the driving disc to realize the rotation driving, and in the driving process, the torsion spring element is matched with the power storage disc to enable the driving structure of the motor body to have the power storage function, so that the auxiliary function is realized when the motor returns to the original state, and the load of the motor body is reduced.

Description

Motor drive energy storage structure and robot

Technical Field

The utility model relates to the technical field of robot driving, in particular to a motor driving energy storage structure and a robot.

Background

The robot is an intelligent machine capable of semi-autonomous or fully autonomous working, has basic characteristics of sensing, decision making, executing and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.

With the progress of technology, robots are becoming more and more popular, such as cleaning robots, freight robots, inspection robots, etc., and can realize intelligent control, existing robots generally include a frame and a moving wheel set, some robots include leg structures and moving wheel sets to cooperate to realize various actions, and leg structures and driving elements are required to cooperate to perform various actions during the actions. The existing robot driving structure and joints are directly driven by the motor in various action processes, the load of the motor is small under the action of the gravity of the robot body when the robot is in a sleeping state, the whole body of the robot needs to be jacked up when the robot stands, and the load of the motor is large, so that the robot can be further improved aiming at the existing robot structure.

Disclosure of Invention

In order to solve the problems, the utility model provides the motor driving energy storage structure and the robot, wherein the motor is provided with the energy storage structure, the motor body is connected with the driving disc to realize the rotation driving, and in the driving process, the torsion spring element is matched with the energy storage disc to enable the driving structure of the motor body to have the energy storage effect, and the motor driving energy storage structure and the robot play an auxiliary role when returning to the original state and reduce the load of the motor body.

The technical scheme adopted by the utility model is as follows: the utility model provides a motor drive energy storage structure, includes motor body, locates motor body's base, locates motor body and lie in the driving disk of base outer edge, fixed connection in the power of holding of base dish and connect in the torsional spring element of power of holding dish and driving disk, motor body is including the stator module that the cover was located the base, rotatable coupling in the rotatory shell of base and locate rotatory shell and with stator module complex rotor assembly, the driving disk is connected in rotatory shell.

The base is provided with a rotating shaft assembly in the middle, and the rotating shaft assembly is connected with the rotating shell.

The improvement of the scheme is that the rotating shaft assembly comprises a rotating shaft and first bearings sleeved on the rotating shaft, the two first bearings are arranged, mounting grooves for mounting the first bearings are formed in the base, the rotating shaft is rotatably connected to the first bearings, and the rotating shaft is connected with the rotating shell.

In a further improvement of the above scheme, the base is sleeved with a second bearing, and the driving disc is rotatably connected to the second bearing.

The rotary shell comprises a front end cover, a rear end cover and a rotor sleeve connected with the front end cover and the rear end cover, wherein the rotor assembly is arranged on the inner diameter of the rotor sleeve.

The driving disc is fixedly arranged on the front end cover and rotates along with the front end cover.

The driving disc comprises a connecting ring and a rotating disc arranged on the connecting ring, and the connecting ring is arranged on the front end cover.

The force storage disc is provided with a connecting table and a force storage groove arranged on the outer diameter of the connecting table, and the torsion spring element is arranged in the force storage groove.

A further development of the above-described solution provides that the torsion spring element is provided with at least one torsion coil.

A robot comprises the motor-driven energy storage structure.

The beneficial effects of the utility model are as follows:

compared with the existing motor driving structure, the motor is provided with the power storage structure, the motor body is connected with the driving disc to realize rotary driving, and in the driving process, the torsion spring element is matched with the power storage disc to enable the driving structure of the motor body to have the power storage function, so that the motor body has the auxiliary function when returning to the original state, and the load of the motor body is reduced. Specifically, motor body, locate motor body's base, locate motor body and lie in the driving disk of base outer edge, fixed connection in the power dish of holding of base and connect in the torsional spring element of power dish and driving disk, motor body is including the stator module that the cover was located the base, rotatable coupling in the rotatory shell of base and locate rotatory shell and with stator module complex rotor assembly, the driving disk is connected in rotatory shell. The motor body is used as the power drive of the robot, the driving disc is matched with the power storage disc to be connected with the joints of the robot for use, and the structure is reliable.

Drawings

FIG. 1 is a schematic perspective view of a motor driven energy storage structure of the present utility model;

FIG. 2 is a schematic diagram of an exploded view of the motor driven energy storage structure of FIG. 1;

FIG. 3 is a schematic diagram of a front view of the motor-driven energy storage structure of FIG. 1;

fig. 4 is a cross-sectional view of A-A in fig. 3.

Reference numerals illustrate: the motor comprises a motor body 1, a stator assembly 11, a rotary housing 12, a front end cover 121, a rear end cover 122, a rotor sleeve 123, a rotor assembly 13, a base 2, a rotating shaft assembly 21, a rotating shaft 211, a first bearing 212, a second bearing 22, a driving disk 3, a connecting ring 31, a rotating disk 32, a power storage disk 4, a connecting table 41, a power storage groove 42, a torsion spring element 5 and a torsion spring ring 51.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. Preferred embodiments of the present utility model are shown in the drawings. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

As shown in fig. 1 to 4, a motor-driven energy storage structure includes a motor body 1, a base 2 disposed on the motor body 1, a driving disc 3 disposed on the motor body 1 and located at an outer edge of the base 2, a force storage disc 4 fixedly connected to the base 2, and a torsion spring element 5 connected to the force storage disc 4 and the driving disc 3, wherein the motor body 1 includes a stator assembly 11 sleeved on the base 2, a rotary housing 12 rotatably connected to the base 2, and a rotor assembly 13 disposed on the rotary housing 12 and engaged with the stator assembly 11, and the driving disc 3 is connected to the rotary housing 12.

The base 2 is equipped with pivot subassembly 21 in the middle, pivot subassembly 21 is connected with rotating housing 12, and the further improvement does, and pivot subassembly 21 includes rotation axis 211, and the first bearing 212 of cover locating rotation axis 211, first bearing 212 is equipped with two, be equipped with the mounting groove that is used for first bearing 212 to install in the base 2, rotation axis 211 swivelling joint is in first bearing 212, rotation axis 211 is connected with rotating housing 12, is used for rotating housing 12 to be connected through rotation axis 211, and rotatory stable and reliable when motor body 1 drives.

The base 2 is sleeved with a second bearing 22, the driving disc 3 is rotatably connected to the second bearing 22, and the second bearing 22 is used for being connected with the driving disc 3 in a matched mode, so that the structure can rotate stably.

The rotary shell 12 comprises a front end cover 121, a rear end cover 122 and a rotor sleeve 123 connected with the front end cover 121 and the rear end cover 122, the rotor assembly 13 is arranged on the inner diameter of the rotor sleeve 123, the driving disk 3 is fixedly arranged on the front end cover 121 and rotates along with the front end cover 121, the driving disk 3 comprises a connecting ring 31 and a rotary disk 32 arranged on the connecting ring 31, and the connecting ring 31 is arranged on the front end cover 121; the rotary shell 12 has simple structure and reliable structure and is connected and installed by matching with the driving disc 3.

The force storage disc 4 is provided with a connecting table 41 and a force storage groove 42 arranged on the outer diameter of the connecting table 41, the torsion spring element 5 is arranged in the force storage groove 42, and the force storage groove 42 is matched with the installation and the force storage of the torsion spring element 5.

The torsion spring element 5 is provided with at least one torsion spring coil 51, and the torsion spring coil 51 with at least one coil is used for accumulating force, so that the structure is reliable.

The robot comprises a motor-driven energy storage structure, and is used as a leg structure of the robot by arranging the energy storage structure to be matched with motor driving, and particularly is used for a robot with a heavy body type.

According to the utility model, the power storage and energy storage structure is arranged on the motor, the motor body 1 is connected with the driving disc 3 to realize the rotation driving, and in the driving process, the torsion spring element 5 is matched with the power storage disc 4 to enable the driving structure of the motor body 1 to have the power storage function, so that the auxiliary function is realized when the motor returns to the original state, and the load of the motor body 1 is reduced. Specifically, the motor body 1, the base 2 arranged on the motor body 1, the driving disc 3 arranged on the motor body 1 and positioned at the outer edge of the base 2, the power storage disc 4 fixedly connected to the base 2, and the torsion spring element 5 connected to the power storage disc 4 and the driving disc 3 are arranged, the motor body 1 comprises a stator assembly 11 sleeved on the base 2, a rotary shell 12 rotatably connected to the base 2, and a rotor assembly 13 arranged on the rotary shell 12 and matched with the stator assembly 11, and the driving disc 3 is connected to the rotary shell 12. The motor body 1 is used as the power drive of the robot, the driving disc 3 is matched with the power storage disc 4 to be connected with the joint of the robot for use, and the structure is reliable.

The foregoing examples illustrate only a few embodiments of the utility model and are described in detail herein without thereby limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims

1. A motor drive energy storage structure which characterized in that: the motor comprises a motor body, a base arranged on the motor body, a driving disk arranged on the motor body and located on the outer edge of the base, a force storage disk fixedly connected to the base, and a torsion spring element connected to the force storage disk and the driving disk, wherein the motor body comprises a stator assembly sleeved on the base, a rotary shell rotatably connected to the base, and a rotor assembly arranged on the rotary shell and matched with the stator assembly, and the driving disk is connected to the rotary shell.

2. The motor-driven energy storage structure of claim 1, wherein: the base is equipped with the pivot subassembly in the middle, pivot subassembly is connected with the swivel housing.

3. The motor-driven energy storage structure of claim 2, wherein: the rotating shaft assembly comprises a rotating shaft and first bearings sleeved on the rotating shaft, two first bearings are arranged, mounting grooves used for mounting the first bearings are formed in the base, the rotating shaft is rotatably connected to the first bearings, and the rotating shaft is connected with the rotating shell.

4. The motor-driven energy storage structure of claim 1, wherein: the base is sleeved with a second bearing, and the driving disc is rotatably connected to the second bearing.

5. The motor-driven energy storage structure of claim 1, wherein: the rotary shell comprises a front end cover, a rear end cover and a rotor sleeve connected with the front end cover and the rear end cover, and the rotor assembly is arranged on the inner diameter of the rotor sleeve.

6. The motor-driven energy storage structure of claim 5, wherein: the driving disc is fixedly arranged on the front end cover and rotates along with the front end cover.

7. The motor-driven energy storage structure of claim 6, wherein: the driving disk comprises a connecting ring and a rotating disk arranged on the connecting ring, and the connecting ring is arranged on the front end cover.

8. The motor-driven energy storage structure of claim 1, wherein: the power storage disc is provided with a connecting table and a power storage groove arranged on the outer diameter of the connecting table, and the torsion spring element is arranged in the power storage groove.

9. The motor-driven energy storage structure of claim 1, wherein: the torsion spring element is provided with at least one turn of torsion coil.

10. A robot, characterized in that: comprising a motor driven energy storage structure according to any one of claims 1-9.