CN219802079U - Joint motor in application robot - Google Patents
Joint motor in application robot Download PDFInfo
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- CN219802079U CN219802079U CN202321138075.7U CN202321138075U CN219802079U CN 219802079 U CN219802079 U CN 219802079U CN 202321138075 U CN202321138075 U CN 202321138075U CN 219802079 U CN219802079 U CN 219802079U
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- reduction gearbox
- mounting groove
- rotor
- stator
- application robot
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- 230000009467 reduction Effects 0.000 claims abstract description 58
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 238000005192 partition Methods 0.000 claims description 5
- 230000013011 mating Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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Abstract
The utility model discloses a joint motor in an application robot, which comprises a shell and a rotor arranged in the shell, wherein a stator is arranged in the rotor, a reduction gearbox is arranged in the stator, a mounting hole is formed in the center of the stator, the reduction gearbox is arranged in the mounting Kong Zhongan, and an output flange is arranged on the reduction gearbox. The utility model is beneficial to the installation of the reduction gearbox on the inside on the basis of keeping small volume and being suitable for being applied to robots, and greatly reduces the difficulty in the production and manufacturing process.
Description
Technical Field
The utility model relates to the technical field of motors, in particular to a joint motor in an application robot.
Background
As is well known, with the development of industry, the manpower cost is higher and the requirements for fine processing are higher, the traditional manual operation is gradually replaced by a robot, and a plurality of industries with high danger and high pollution also gradually adopt robots to replace the manual operation. The robot is required to have a plurality of joints to realize various motions, and a joint motor is attached to the joints, so that the robot is capable of realizing a multi-dimensional motion, and the more complicated the robot is, the more joints are required.
At present, the robot joint motor has more parts, complex structure, high manufacturing cost, inconvenience for mass production and inconvenience in installation to the joint of the robot. Then, chinese patent publication number CN209881582U discloses a robot joint motor, which comprises a stator, a rotor, a motor shaft and a planetary gear reduction mechanism, wherein the rotor and the stator are relatively rotated, the motor shaft is fixedly connected with the rotor, the planetary gear reduction mechanism is arranged at the inner side of the stator, the power input end of the planetary gear reduction mechanism is connected with the motor shaft, and the power output end of the planetary gear reduction mechanism is connected with an output connection unit, although the planetary gear reduction mechanism is also completely buried in the motor stator, the planetary gear reduction mechanism is installed in the stator, and the installation difficulty is increased because the installation of the planetary gear reduction mechanism is complicated, and the installation difficulty is increased.
Disclosure of Invention
First, the technical problems to be solved
Aiming at the defects in the prior art, the utility model provides the joint motor in the application robot, which is more beneficial to the installation of the reduction gearbox on the inside on the basis of keeping small volume and being suitable for being applied to the robot, and greatly reduces the difficulty in the production and manufacturing process.
(II) technical problem to be solved
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
the utility model provides an articulated motor in application robot, includes the casing and casing internally mounted has the rotor, install the stator in the rotor, install the reducing gear box in the stator, the stator central point puts and opens there is a mounting hole, install Kong Zhongan is equipped with the reducing gear box, be provided with output flange on the reducing gear box.
Preferably, the shell comprises a bottom shell and an upper cover covered on the bottom shell, wherein a rotor mounting groove and a reduction gearbox mounting groove are formed in the bottom shell and are distributed in concentric circles, the rotor mounting groove and the reduction gearbox mounting groove are separated by a partition plate, the reduction gearbox mounting groove is positioned inside the rotor mounting groove, and the rotor mounting groove and the reduction gearbox mounting groove are correspondingly provided with the rotor and the reduction gearbox.
Preferably, the outer circumference of the bottom shell is provided with reinforcing ribs, the reinforcing ribs are provided with mounting grooves, an upper bracket is arranged between the bottom shell and the upper cover, a convex block is arranged on the circumference of the upper bracket, the convex block is provided with a matching hole, and the matching hole and the mounting grooves fix the upper bracket on the bottom shell through locking pieces.
Preferably, the reinforcing ribs are uniformly spaced apart on the outer circumference of the bottom chassis.
Preferably, a first bearing is arranged on the rotor, an output shaft of a sun gear in the reduction box is connected with the first bearing of the rotor, and a driving shaft of a planet gear in the reduction box is connected with the output flange.
Preferably, the output flange comprises an intermediate gear which is connected with a planetary gear in the reduction gearbox, a second bearing is arranged on the intermediate gear, and a flange for covering the reduction gearbox is arranged on the end face of the shell.
(III) technical effects to be achieved
Compared with the prior art, the utility model has the beneficial effects that:
firstly, the stator of the utility model is provided with a mounting hole at the center, a reduction gearbox is arranged in the mounting hole, an output flange is arranged on the reduction gearbox, the integration level is high, the maintenance volume is small, the utility model is more suitable for being applied to robots, and is more beneficial for being mounted in the reduction gearbox, the difficulty in the production and manufacturing process is greatly reduced,
the shell comprises a bottom shell and an upper cover covered on the bottom shell, wherein the bottom shell is internally provided with a rotor mounting groove and a reduction gearbox mounting groove which are distributed in concentric circles, the rotor mounting groove and the reduction gearbox mounting groove are separated by a partition plate, the reduction gearbox mounting groove is positioned in the rotor mounting groove, and the rotor and the reduction gearbox are correspondingly arranged in the rotor mounting groove.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model.
Fig. 2 is a sectional view taken along the direction A-A in fig. 1.
FIG. 3 is a schematic overall view of the present utility model.
Fig. 4 is a schematic perspective view of the present utility model.
Fig. 5 is a schematic view of the inside of the bottom shell of the present utility model.
Fig. 6 is an exploded view of the rotor, stator, upper bracket and upper cover of the present utility model.
In the figure: 1, a shell; 2, a rotor; 3, a stator; 4, a reduction gearbox; 5, outputting a flange; 11, a bottom shell; 12, an upper cover; 13, a rotor mounting groove; 14, a reduction gearbox mounting groove; 15, a partition board; 16, reinforcing ribs; 17, upper support; 21, bearing one; 31, mounting holes; 51, an intermediate gear; 52, a second bearing; 53, flanges; 161, reinforcing ribs; 171, bumps; 172, mating holes.
Detailed Description
In the description of the present utility model, it should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected or indirectly connected to the other element.
In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "length", "width", "thickness", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of description and simplicity of description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be the communication between the two original parts. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
The present utility model will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the detailed description and specific examples, while indicating the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present utility model.
Embodiment one: referring to fig. 2, an articulated motor in application robot, including casing 1 and casing 1 internally mounted have rotor 2, install stator 3 in the rotor 2, install reducing gear box 4 in the stator 3, the central point of stator 3 puts and opens there is a mounting hole 31, install reducing gear box 4 in the mounting hole 31, this kind of it is less in keeping complete machine length, and small, and then more can be fit for on the basis of using in the robot, be favorable to being fit for the installation of reducing gear box inside more, greatly reduced the degree of difficulty in the manufacturing process, be provided with output flange 5 on the reducing gear box 4, output through output flange 5, it is in the complete machine with reducing gear box 4 and reducing gear box 4 all concentrate like this, the integrated level is high, more can be fit for on the basis of using in the robot.
Embodiment two: on the basis of the first embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the casing 1 includes a bottom casing 11 and an upper cover 12 covered on the bottom casing 11, a rotor mounting groove 13 and a reduction gearbox mounting groove 14 are arranged in the bottom casing 11, the rotor mounting groove 13 and the reduction gearbox mounting groove 14 are concentrically distributed, the rotor mounting groove 13 and the reduction gearbox mounting groove 14 are separated by a partition 15, mutual interference is avoided, the reduction gearbox mounting groove 14 is located inside the rotor mounting groove 13, and the rotor mounting groove 13 and the reduction gearbox mounting groove 14 are correspondingly provided with the rotor 2 and the reduction gearbox 4, so that the layout is reasonable, the integration installation in the casing 1 is facilitated, the installation and the assembly are also facilitated, and the difficulty in the installation process is reduced. It is to be noted that, the reinforcing ribs 16 are distributed on the outer circumference of the bottom shell 11, the mounting grooves 161 are formed in the reinforcing ribs 16, the upper bracket 17 is disposed between the bottom shell 11 and the upper cover 12, the protrusions 171 are disposed on the circumference of the upper bracket 17, the engaging holes 172 are formed in the protrusions 171, the engaging holes 172 and the mounting grooves 161 fix the upper bracket 17 on the bottom shell 11 through locking members, and those skilled in the art know that bolts or screws are generally used for the locking members. In this embodiment, the reinforcing ribs 16 are uniformly distributed on the outer circumference of the bottom shell 11 at intervals, so that the shell 1 is in a wave line structural design, and the conventional circular arc structural design is abandoned, so that the problem that structural interference exists when two motors are installed together in the prior art is solved (the existing integrated joint motors on the market are generally cylindrical, and the structural interference exists when the two motors are required to be installed together, so that the installation and engineering production of a robot are inconvenient).
Embodiment III: it can be explained on the basis of the first embodiment or the second embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, a bearing 21 is arranged on the rotor 2, the output shaft of the sun gear in the reduction gearbox 4 is connected with the bearing 21 of the rotor 2, the driving shaft of the planetary gear in the reduction gearbox 4 is connected with the output flange 5, the rotor 2 is rotatable relative to the stator 3, the rotor 2 is connected with the sun gear in the reduction gearbox 4, the sun gear rotates to drive the planetary gear in the reduction gearbox 4 to rotate, and the speed is reduced in equal proportion and the torque is amplified in equal proportion by the difference of the gear numbers. The planetary gears in the reduction gearbox 4 drive the output flange 5, and output is carried out through the output flange 5. It is to be noted that the output flange 5 includes an intermediate gear 51 connected with a planetary gear in the reduction gearbox 4, and the intermediate gear 51 is provided with a second bearing 52, so that the output is realized by connecting the second bearing 52 with the outside, and the flange 53 for covering the reduction gearbox 4 is arranged on the end face of the housing 1.
The reduction gearbox 4 is positioned in the mounting hole 31 of the stator 3, the speed of high-speed rotation can be reduced through the reduction gearbox 4, the high torque moment required by the robot is converted, and the motor rotation can be controlled by sending a control instruction to a motor driver. The utility model designs the reduction gearbox 4 in the mounting hole 31 of the stator 3, fully utilizes the space structure of the motor, realizes high integration design, and ensures that the motor has the characteristics of high control precision, high output power, small volume and the like.
Standard parts used in the present document can be purchased from the market, and the specific connection modes of the parts adopt conventional means such as a stator, a rotor, a reduction gearbox (reducer) and the like which are mature in the prior art, and will not be described in detail herein.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present utility model is not limited thereby. Therefore, based on the innovative concepts of the present utility model, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solutions directly or indirectly to other relevant technical fields, all of which are included in the scope of protection of the present patent.
Claims (6)
1. The utility model provides an articulated motor in application robot, includes casing (1) and casing (1) internally mounted has rotor (2), install stator (3) in rotor (2), install reducing gear box (4), its characterized in that in stator (3): the stator (3) is provided with a mounting hole (31) at the center, the reduction gearbox (4) is arranged in the mounting hole (31), and the reduction gearbox (4) is provided with an output flange (5).
2. The joint motor in an application robot as claimed in claim 1, wherein: the shell (1) comprises a bottom shell (11) and an upper cover (12) covered on the bottom shell (11), a rotor mounting groove (13) and a reduction gearbox mounting groove (14) are arranged in the bottom shell (11), the rotor mounting groove (13) and the reduction gearbox mounting groove (14) are distributed in concentric circles, the rotor mounting groove (13) and the reduction gearbox mounting groove (14) are separated by a partition plate (15), the reduction gearbox mounting groove (14) is positioned inside the rotor mounting groove (13), and the rotor mounting groove (13) and the reduction gearbox mounting groove (14) are correspondingly installed with each other.
3. The joint motor in the application robot as claimed in claim 2, wherein: the outer circumference of drain pan (11) distributes has stiffening rib (16), just stiffening rib (16) open has mounting groove (161) be provided with upper bracket (17) between drain pan (11) with upper cover (12), be provided with lug (171) on the circumference of upper bracket (17), it has mating holes (172) to open on lug (171), mating holes (172) with mounting groove (161) will upper bracket (17) are fixed on drain pan (11) through the locking piece.
4. A joint motor in an application robot according to claim 3, wherein: the reinforcing ribs (16) are uniformly distributed on the outer circumference of the bottom shell (11) at intervals.
5. The joint motor in the application robot according to claim 1 or 2 or 3 or 4, wherein: the novel planetary gear transmission device is characterized in that a first bearing (21) is arranged on the rotor (2), an output shaft of a sun gear in the reduction gearbox (4) is connected with the first bearing (21) of the rotor (2), and a driving shaft of a planetary gear in the reduction gearbox (4) is connected with the output flange (5).
6. The joint motor in the application robot as claimed in claim 5, wherein: the output flange (5) comprises an intermediate gear (51) which is matched with a planetary gear in the reduction gearbox (4), a bearing II (52) is arranged on the intermediate gear (51), and a flange (53) which is used for covering the reduction gearbox (4) is arranged on the end face of the shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321138075.7U CN219802079U (en) | 2023-05-12 | 2023-05-12 | Joint motor in application robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321138075.7U CN219802079U (en) | 2023-05-12 | 2023-05-12 | Joint motor in application robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219802079U true CN219802079U (en) | 2023-10-03 |
Family
ID=88156257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321138075.7U Active CN219802079U (en) | 2023-05-12 | 2023-05-12 | Joint motor in application robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219802079U (en) |
-
2023
- 2023-05-12 CN CN202321138075.7U patent/CN219802079U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |