CN221009941U

CN221009941U - Compact joint motor assembly

Info

Publication number: CN221009941U
Application number: CN202322898919.4U
Authority: CN
Inventors: 高志川; 金启前; 程皓
Original assignee: Zhejiang Fangde Robot Joint Technology Co ltd
Current assignee: Zhejiang Fangde Robot Joint Technology Co ltd
Priority date: 2023-10-27
Filing date: 2023-10-27
Publication date: 2024-05-24
Anticipated expiration: 2033-10-27

Abstract

The utility model relates to a compact joint motor assembly, which comprises a motor and a speed reducer, wherein the motor and the speed reducer are in a two-in-one shell of an integrated structure, the motor is an axial magnetic flux motor and comprises a stator assembly and a rotor assembly, the speed reducer comprises a sun gear, a planetary gear assembly, a gear ring, a lower planetary carrier and an upper planetary carrier, the lower planetary carrier and the upper planetary carrier are respectively and rotatably arranged with the two-in-one shell, a shaft is arranged between the lower planetary carrier and the upper planetary carrier, the planetary gear assembly is arranged on the shaft, the gear ring is fixed on the inner wall of the two-in-one shell, the sun gear is fixed on a rotating shaft of the rotor assembly, the inner side of the planetary gear assembly is meshed with the sun gear, and the outer side of the planetary gear assembly is meshed with the gear ring. According to the utility model, the motor and the speed reducer are integrated into the two-in-one shell, and the axial flux motor is adopted, so that the radial size of the joint motor assembly is greatly reduced, and meanwhile, the rotating shaft, the sun wheel and the planetary wheel assembly are utilized to drive the upper planetary frame and the lower planetary frame to rotate, so that larger torque is output, and the whole operation is stable, efficient and reliable.

Description

Compact joint motor assembly

Technical Field

The utility model belongs to the technical field of motors, and particularly relates to a compact joint motor assembly.

Background

With the development of industry, the manpower cost is higher and higher, the fine machining requirement is higher and 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.

Faster motion response speed, lighter equipment weight, more diversified robot joint applications, a series of new demands will bring about further development of joint dynamic structure. The stronger output capability and smaller installation space are key technical directions of the development of the joint motor. The robot executes various complex actions mainly by means of motor drive arranged on joints, so that the joint motor is the most core part of the robot, and the robot has the characteristics of small space volume, large output torque, light weight, high control precision and the like.

In the prior art, in order to output larger torque, a motor acceleration and deceleration device scheme is generally adopted, a motor and a deceleration device are installed in a split mode or integrated, the deceleration device is arranged on the side face of the motor, the motor is large in size, the torque density of a motor assembly is low, the whole layout of the robot is not facilitated, and therefore the working performance and reliability of the robot are affected to a certain extent.

Disclosure of utility model

In order to solve the technical problems, the utility model aims to provide a compact joint motor assembly, which has small radial size and high reliability.

In order to achieve the above object, the present utility model adopts the following technical scheme:

the utility model provides a compact joint motor assembly, includes motor and reduction gear, the two unification casings of motor and reduction gear's casing integrated into one piece structure, the motor is axial magnetic flux motor, including setting gradually stator module and the rotor subassembly in two unification casing one ends, the reduction gear includes the sun gear, the planet wheel assembly, the ring gear, lower planet carrier and last planet carrier, lower planet carrier, last planet carrier rotate through lower planet carrier bearing, last planet carrier bearing and two unification casings respectively and set up, and be equipped with the axle between lower planet carrier, the last planet carrier, the planet wheel assembly sets up on the axle, the ring gear is fixed at two unification shells inner wall, and is located down between planet carrier, the last planet carrier, the sun gear is fixed in rotor subassembly's pivot, planet wheel assembly inboard and sun gear meshing, outside and ring gear meshing.

As a preferable scheme: the planet wheel assembly comprises at least three gears which are arranged at equal intervals along the circumference, a shaft between the lower planet carrier and the upper planet carrier is a bolt, the lower planet carrier and the upper planet carrier are fixed by the bolt, a plurality of gears are respectively arranged on the bolt in a rotating way through bearings, the inner sides of the three gears are meshed with the sun gear, and the outer edges of the three gears are meshed with the gear ring.

As a preferable scheme: the rotor assembly further comprises a rotor hub, the rotor hub is fixed with the rotating shaft through a locking bolt, and the sun gear is connected with the rotating shaft through a spline.

As a preferable scheme: the middle part of the upper planet carrier is also provided with a blocking cover, and an oil seal is also arranged between the outer ring of the upper planet carrier and the two-in-one shell.

As a preferable scheme: the outer side of the lower planet carrier bearing is also fixedly provided with a lower planet carrier bearing cover, and the lower planet carrier bearing cover is fixed with the inner wall of the two-in-one shell.

As a preferable scheme: the rotor hub is rotatably arranged on the inner wall of the lower planet carrier through a motor rear bearing, and the rotating shaft is rotatably arranged on the inner wall of the upper planet carrier through a motor front bearing.

As a preferable scheme: the one end of two unification casings still is fixed with the controller lid, the controller lid internal fixation has the controller PCB board, still be fixed with magnet on the rotor hub, and the magnet be located with the controller PCB on the sensing components and parts alignment.

As a preferable scheme: a sealing plate is further arranged between the motor and the speed reducer, and heat dissipation oil is arranged between the sealing plate and the controller cover.

Compared with the prior art, the utility model has the beneficial effects that:

According to the utility model, the motor and the speed reducer are integrated into the two-in-one shell, and the axial flux motor is adopted, so that the radial size of the joint motor assembly is greatly reduced, and meanwhile, the rotating shaft, the sun wheel and the planetary wheel assembly are utilized to drive the upper planetary frame and the lower planetary frame to rotate, so that larger torque is output, and the whole operation is stable, efficient and reliable.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

FIG. 1 is a schematic view of the overall cross-sectional structure of the present utility model;

FIG. 2 is a schematic view of the rotor hub, shaft and reducer of the motor of the present utility model;

fig. 3 is a schematic diagram of an exploded structure of a rotor hub, a rotating shaft and a decelerator in the motor of the present utility model.

The reference numerals are: 1. a blanking cover; 2. an upper planet carrier; 3. an upper planet carrier bearing; 4. an oil seal; 5. a two-in-one shell; 6. a gear ring; 7. a planet wheel assembly; 8. a lower planet carrier bearing cap; 9. a lower planet carrier bearing; 10. a lower planet carrier; 11. a motor front bearing; 12. a motor rear bearing; 13. a sun gear; 14. a rotor hub; 15. a rotor assembly; 16. a stator assembly; 17. a magnet; 18. a PCB board; 19. a controller cover; 20. a locking bolt.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. 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 application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Furthermore, in the description of the present utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. 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, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:

As shown in fig. 1 to 3, the compact joint motor assembly comprises a motor and a speed reducer, the motor and the speed reducer are in a two-in-one shell 5 with an integrated structure, the motor is an axial flux motor, the motor comprises a stator assembly 16 and a rotor assembly 15 which are sequentially arranged at one end of the two-in-one shell 5, the speed reducer comprises a sun gear 13, a planetary gear assembly 7, a gear ring 6, a lower planet carrier 10 and an upper planet carrier 2, the lower planet carrier 10 and the upper planet carrier 2 are respectively arranged in a rotating manner through a lower planet carrier bearing 9 and an upper planet carrier bearing 3 and the two-in-one shell 5, a shaft is arranged between the lower planet carrier 10 and the upper planet carrier 2, the planetary gear assembly 7 is arranged on the shaft, the shaft between the lower planet carrier 10 and the upper planet carrier 2 is a bolt, the bolt fixes the lower planet carrier 10 and the upper planet carrier 2, the planetary gear assembly 7 comprises at least three gears which are arranged at equal intervals along the circumference and are respectively arranged on the bolt in a rotating manner, the gear ring gear 6 is fixed on the inner wall of the two-in-one shell 5, and is positioned between the lower planet carrier 10 and the upper carrier 2, the three gears are respectively meshed with the sun gear assembly 13 and the three sun gears are meshed with the sun gear assembly 13.

According to the utility model, the motor and the speed reducer are integrated into the two-in-one shell, and the axial flux motor is adopted, so that the radial size of the joint motor assembly is greatly reduced, meanwhile, the rotating shaft, the sun wheel and the planetary wheel assembly are utilized to drive the upper planetary frame and the lower planetary frame to rotate, larger torque is output, and the planetary wheel assembly is formed into three uniformly distributed gears, so that the stress is more uniform, the whole operation is stable, and the high-efficiency and reliability are realized.

The rotor assembly 15 further comprises a rotor hub 14, the rotor hub 14 and the rotating shaft are fixed through a locking bolt 20, and the sun gear 13 and the rotating shaft are connected through a spline. The rotor hub 14 is rotatably arranged with the inner wall of the lower planet carrier 10 through the motor rear bearing 12, and the rotating shaft is rotatably arranged with the inner wall of the upper planet carrier 2 through the motor front bearing 11.

The middle part of the upper planet carrier 2 is also provided with a blanking cover 1, and an oil seal 4 is also arranged between the outer ring of the upper planet carrier 2 and the two-in-one shell 5. The outer side of the lower planet carrier bearing 9 is also fixed with a lower planet carrier bearing cover 8, and the lower planet carrier bearing cover 8 is fixed with the inner wall of the two-in-one shell 5.

One end of the two-in-one shell 5 is further fixed with a controller cover 19, a controller PCB 18 is fixed in the controller cover 19, a magnet 17 is further fixed on the rotor hub 14, and sensing components of the magnet 17 located on the controller PCB 18 are aligned. A sealing plate is also arranged between the motor and the speed reducer, and heat dissipation oil is arranged between the sealing plate and the controller cover 19.

The utility model changes the internal and external rotor motors in the prior art into axial flux motors, greatly reduces the radial dimension of the assembly, and simultaneously, the motor and the controller can be immersed in liquid lubricating oil by arranging the sealing plate, thereby being beneficial to improving the heat dissipation efficiency.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by those skilled in the art without departing from the spirit and principles of the utility model, and any simple modification, equivalent variation and modification of the above embodiments in light of the technical principles of the utility model may be made within the scope of the present utility model.

Claims

1. Compact joint motor assembly, including motor and reduction gear, its characterized in that: the utility model provides a motor and casing of reduction gear two unification casing (5) of unification structure, the motor is axial magnetic flux motor, including stator module (16) and rotor module (15) that set gradually in two unification casing (5) one end, the reduction gear includes sun gear (13), planet wheel assembly (7), ring gear (6), lower planet carrier (10) and last planet carrier (2), lower planet carrier (10), go up planet carrier (2) and rotate setting through lower planet carrier bearing (9), go up planet carrier bearing (3) and two unification casing (5) respectively, and be equipped with the axle between lower planet carrier (10), last planet carrier (2), planet wheel assembly (7) set up on the axle, ring gear (6) are fixed at two unification casing (5) inner walls, and are located down between planet carrier (10), last planet carrier (2), sun gear (13) are fixed in the pivot of rotor module (15), planet wheel assembly (7) inboard and sun gear (13) meshing, outside and ring gear (6) meshing.

2. The compact joint motor assembly of claim 1, wherein: the planet wheel assembly (7) comprises at least three gears which are arranged at equal intervals along the circumference, the shafts between the lower planet carrier (10) and the upper planet carrier (2) are bolts, the bolts fix the lower planet carrier (10) and the upper planet carrier (2), the gears are respectively arranged on the bolts in a rotating mode through bearings, the inner sides of the three gears are meshed with the sun gear (13), and the outer edges of the three gears are meshed with the gear ring (6).

3. The compact joint motor assembly of claim 1, wherein: the rotor assembly (15) further comprises a rotor hub (14), the rotor hub (14) and the rotating shaft are fixed through a locking bolt (20), and the sun gear (13) and the rotating shaft are connected through a spline.

4. The compact joint motor assembly of claim 1, wherein: the middle part of the upper planet carrier (2) is also provided with a blocking cover (1), and an oil seal (4) is also arranged between the outer ring of the upper planet carrier (2) and the two-in-one shell (5).

5. The compact joint motor assembly of claim 1, wherein: the outer side of the lower planet carrier bearing (9) is also fixedly provided with a lower planet carrier bearing cover (8), and the lower planet carrier bearing cover (8) is fixed with the inner wall of the two-in-one shell (5).

6. The compact joint motor assembly of claim 3, wherein: the rotor hub (14) is rotatably arranged with the inner wall of the lower planet carrier (10) through the motor rear bearing (12), and the rotating shaft is rotatably arranged with the inner wall of the upper planet carrier (2) through the motor front bearing (11).

7. The compact joint motor assembly of claim 3, wherein: one end of the two-in-one shell (5) is further fixed with a controller cover (19), a controller PCB (printed circuit board) 18 is fixed in the controller cover (19), a magnet (17) is further fixed on the rotor hub (14), and sensing components of the magnet (17) located on the controller PCB (18) are aligned.

8. The compact joint motor assembly of claim 7, wherein: a sealing plate is further arranged between the motor and the speed reducer, and heat dissipation oil is arranged between the sealing plate and the controller cover (19).