CN221652410U

CN221652410U - Planetary gear motor

Info

Publication number: CN221652410U
Application number: CN202322832400.6U
Authority: CN
Inventors: 朱志龙; 郁亚南; 梁明强; 卢旺; 黄思卉
Original assignee: Dongguan Benmo Technology Co Ltd
Current assignee: Dongguan Benmo Technology Co Ltd
Priority date: 2023-10-20
Filing date: 2023-10-20
Publication date: 2024-09-03
Anticipated expiration: 2033-10-20

Abstract

The utility model belongs to the technical field of gear motors, and particularly relates to a planetary gear motor, which comprises a shell, a driver, a stator structure, a rotating structure rotationally connected with the shell, a rotor structure arranged in the shell and a planetary transmission mechanism connected with the rotor structure, wherein the rotor structure is arranged in the shell; one end of the rotating structure penetrates through the shell and is in transmission connection with the rotor structure, the stator structure is arranged in the rotor structure, and the planetary transmission mechanism is meshed with the stator structure; the driver comprises a circuit board, and a first magnetic encoder and a second magnetic encoder which are both arranged on the circuit board, wherein the first magnetic encoder is opposite to the rotating structure, and the second magnetic encoder is opposite to the rotor structure. By means of the arrangement of the first magnetic encoder and the second magnetic encoder, the accurate position of the output end can be accurately read. Through the setting of revolution mechanic, frictional force is little, and transmission accuracy is high, realizes the accurate control of motor.

Description

Planetary gear motor

Technical Field

The utility model belongs to the technical field of gear motors, and particularly relates to a planetary gear motor.

Background

The gear motor is an integrated body of a speed reducer and a motor, and the joint module generally consists of the speed reducer, the motor and an encoder. The speed reducing motor adopted by the device can be any one of a harmonic speed reducer, an RV speed reducer or a planetary speed reducer whether the device is a speed reducing motor or a joint module; the planetary reducer has the advantages of low price and good load, and is often applied to a small robot joint with low precision requirements.

In the prior art, a stator clamping block of a gear motor is arranged above a bearing, the bearing can generate contact friction with the stator clamping block in the rotation process, the bearing fixed by a clamping spring also has no pretightening force, and the structure is unstable.

Disclosure of utility model

The utility model aims to provide a planetary gear motor, which aims to solve the technical problem that the precision of the gear motor in the prior art is not high enough.

In order to achieve the above object, an embodiment of the present utility model provides a planetary gear motor, which includes a housing, a driver disposed at one end of the housing, a stator structure disposed in the housing, a rotating structure rotationally connected with the housing, a rotor structure disposed in the housing, and a planetary transmission mechanism connected with the rotor structure; one end of the rotating structure penetrates through the shell and is in transmission connection with the rotor structure, the stator structure is arranged in the rotor structure, and the planetary transmission mechanism is meshed with the stator structure; the driver comprises a circuit board, and a first magnetic encoder and a second magnetic encoder which are both arranged on the circuit board, wherein the first magnetic encoder is opposite to the rotating structure, and the second magnetic encoder is opposite to the rotor structure.

Optionally, the rotating structure comprises a rotating gear rotatably connected to the housing, a first magnetic ring matched with the driver, two bearings arranged between the rotating gear and the housing, and a fastener for fixing the two bearings on the rotating gear; the first magnetic ring is fixed on the rotary gear, and the shell is provided with through holes for fixing the two bearings.

Optionally, the fastener is in contact with the inner ring of the bearing positioned at the lower layer; the rotary gear is provided with a rotor clamping block for limiting the bearing, and the rotor clamping block is in contact with an inner ring of the bearing positioned on the upper layer.

Optionally, a stator clamping block is arranged in the through hole and is positioned between the two bearings, and the stator clamping block is in contact with the outer rings of the two bearings.

Optionally, the fastener is a screw, and one end of the rotary gear is provided with a threaded hole in threaded connection with the screw.

Optionally, the stator structure comprises a stator core, a gear ring and windings, wherein the windings are respectively wound on the stator core in sequence; the gear ring is connected with the stator core, and the gear ring is meshed with the planetary transmission mechanism.

Optionally, the rotor structure comprises a second magnetic ring matched with the driver, a pinion gear seat for installing the second magnetic ring, a rotor gear for fixing the pinion gear seat, a rotor front cover connected with the rotor gear and a sun gear connected with the rotor front cover; the rotor gear is engaged with the rotating structure.

Optionally, the planetary transmission mechanism comprises a planet carrier rotatably connected in the shell, a planet wheel shaft connected with the planet carrier, a needle roller bearing sleeved outside the planet wheel shaft and a planet wheel sleeved outside the needle roller bearing; the planet wheels are respectively meshed with the rotor structure and the stator structure.

Optionally, the device further comprises a driving cover plate, wherein the driving cover plate is connected with the shell and covers the outside of the driver.

Optionally, one end of the casing far away from the driving cover plate is connected with a rear cover, the planetary transmission mechanism is rotationally connected with the rear cover, and the stator structure is arranged on the rear cover.

The above technical solutions in the planetary reduction motor provided by the embodiments of the present utility model have at least one of the following technical effects: the driver is electrified to send out an instruction to control the stator structure to generate a magnetic field, the magnetic force pushes the rotor structure to rotate, the rotor structure drives the planetary transmission mechanism to rotate, and the rotor structure drives the rotating structure to rotate. The accurate position of the output end can be accurately read through the arrangement of the first magnetic encoder and the second magnetic encoder; under the condition of narrow space, high torque and high power accurate output are ensured; under the long-time non-operation working condition, the accurate identification of the motor position is ensured not to be lost. Through the setting of revolution mechanic, compare in the structure of traditional technique, frictional force is little, and transmission accuracy is high, realizes the accurate control of motor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a planetary gear motor according to an embodiment of the present utility model.

Fig. 2 is a schematic exploded view of the planetary reduction motor of fig. 1.

Fig. 3 is a cross-sectional view of the planetary reduction motor of fig. 1.

Fig. 4 is a cross-sectional view of the rotary structure of fig. 1 in a state of being mounted in a housing.

Fig. 5 is an enlarged schematic view at a in fig. 4.

Fig. 6 is a schematic structural view of the rotating structure of fig. 1.

Wherein, each reference sign in the figure:

10-shell 11-through hole 12-stator clamping block

20-Driver 21-circuit board 22-first magnetic encoder

23-Second magnetic encoder 30-stator structure 31-stator core

32-Gear ring 33-pin 40-rotating structure

41-Rotating gear 42-first magnetic ring 43-bearing

44-Fastener 45-rotor block 46-spindle

47-Screw hole 50-rotor structure 51-second magnetic ring

52-Pinion stand 53-rotor gear 54-rotor front cover

55-Sun gear 60-planetary transmission mechanism 61-planet carrier

62-Planetary axle 63-needle bearing 64-planetary wheel

70-Drive cover plate 80-rear cover.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to fig. 1 to 6 are exemplary and intended to illustrate embodiments of the present utility model and should not be construed as limiting the utility model.

In the description of the embodiments of the present utility model, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present utility model and simplify description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present 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 embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

In the embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

In one embodiment of the present utility model, as shown in fig. 1 to 6, there is provided a planetary gear motor including a housing 10, a driver 20 provided at one end of the housing 10, a stator structure 30 provided in the housing 10, a rotating structure 40 rotatably connected with the housing 10, a rotor structure 50 provided in the housing 10, and a planetary transmission mechanism 60 connected with the rotor structure 50; one end of the rotating structure 40 passes through the shell 10 and is in transmission connection with the rotor structure 50, the stator structure 30 is arranged in the rotor structure 50, and the planetary transmission mechanism 60 is meshed with the stator structure 30; the driver 20 includes a circuit board 21, and a first magnetic encoder 22 and a second magnetic encoder 23 both disposed on the circuit board 21, the first magnetic encoder 22 facing the rotary structure 40, and the second magnetic encoder 23 facing the rotor structure 50.

Specifically, the driver 20 is powered on to send a command to control the stator structure 30 to generate a magnetic field, the magnetic force pushes the rotor structure 50 to rotate, the rotor structure 50 drives the planetary transmission mechanism 60 to rotate, and the rotor structure 50 drives the rotating structure 40 to rotate. By the arrangement of the first magnetic encoder 22 and the second magnetic encoder 23, the accurate position of the output end can be accurately read; under the condition of narrow space, high torque and high power accurate output are ensured; under the long-time non-operation working condition, the accurate identification of the motor position is ensured not to be lost. Through the setting of rotary structure 40, compare in the structure of conventional art, frictional force is little, and the transmission precision is high, realizes the accurate control of motor.

In the present embodiment, as shown in fig. 2 to 3, the stator structure 30 includes a stator core 31, a ring gear 32, and windings, which are wound on the stator core 31 in order, respectively; the ring gear 32 is connected to the stator core 31, and the ring gear 32 is meshed with the planetary transmission mechanism 60. Specifically, in the energized state, stator core 31 and the windings cooperate to generate a magnetic field, ring gear 32 is provided in a ring shape, and pin 33 is provided between ring gear 32 and stator core 31 to fix ring gear 32.

In the present embodiment, as shown in fig. 3 to 5, the rotating structure 40 includes a rotating gear 41 rotatably connected to the housing 10, a first magnetic ring 42 engaged with the driver 20, two bearings 43 provided between the rotating gear 41 and the housing 10, and a fastener 44 for fixing the two bearings 43 to the rotating gear 41; the first magnetic ring 42 is fixed on the rotary gear 41, the shell 10 is provided with a through hole 11 for fixing two bearings 43, the fastening piece 44 is contacted with the inner ring of the bearing 43 positioned at the lower layer, the rotary gear 41 is provided with a rotor clamping block 45 for limiting the bearing 43, the rotor clamping block 45 is integrally arranged with the rotary gear 41, and the rotor clamping block 45 is contacted with the inner ring of the bearing 43 positioned at the upper layer. Specifically, the first magnetic ring 42 faces the first magnetic encoder 22. The rotor clamping block 45 and the rotary gear 41 are integrally arranged, a rotating shaft 46 is integrally arranged at one end of the rotary gear 41, the rotating shaft 46 is arranged in the through hole 11, the two bearings 43 are sleeved outside the rotating shaft 46, the two bearings 43 are coaxially arranged in the through hole 11, namely, the two bearings 43 are divided into an upper bearing 43 which is arranged close to the rotary gear 41 in the through hole 11, and a lower bearing 43 which is arranged below the upper bearing 43. The inner wall of the through hole 11 is in contact with the outer rings of the two bearings 43, is not in contact with the inner rings of the two bearings 43, and the stator housing 10 does not generate friction force with the inner rings of the two bearings 43. One end of the rotating gear 41 provided with a rotating shaft 46 sequentially stretches into the two bearings 43, the inner rings of the two bearings 43 rotate along with the rotation of the rotating gear 41, the outer rings of the two bearings 43 are fixed with the shell 10 and do not rotate, the bottom of the rotating gear 41 is provided with a fastener 44, the fastener 44 is fixed in contact with the inner rings of the bearings 43 positioned at the bottom of the two bearings 43, and the inner rings of the bearings 43 positioned at the top are fixed in contact with a rotor clamping block 45; thus, the bearing 43 is secured and fastened, and friction is not generated, and the precision and the structure are improved.

In this embodiment, as shown in fig. 4, the stator clamping block 12 is disposed in the through hole 11 and located between the two bearings 43, and the stator clamping block 12 contacts with the outer rings of the two bearings 43. Specifically, the stator clamping block 12 is located in the middle of the through hole 11, the stator clamping block 12 separates two bearings 43, the bottom of the bearing 43 located at the upper layer is in contact with the upper end face of the stator clamping block 12, the top of the bearing 43 located at the lower layer is in contact with the lower end face of the stator clamping block 12, the inner rings of the two bearings 43 rotate along with the rotation of the rotary gear 41, and the outer rings of the two bearings 43 are fixed with the stator clamping block 12 and the inner side wall of the through hole 11 and do not rotate.

In the present embodiment, as shown in fig. 1 to 2, the fastener 44 is a screw, and one end of the rotation gear 41 is provided with a screw hole 47 to which the screw is screwed. Specifically, the screw is provided with external threads, and the external threads of the screw are connected with internal threads of a threaded hole 47 in the rotating shaft 46, and cooperate with the rotor clamping block 45 to fix the two bearings 43.

The rotor block 45 is arranged in a ring shape. Specifically, the contact area between the rotor clamping block 45 which is arranged in the annular shape and the inner ring of the upper bearing 43 can be increased, the inner ring of the bearing 43 can be fixed more stably, and when the rotating shaft 46 drives the inner ring of the bearing 43 to rotate, the friction force between the inner ring of the bearing 43 and the rotor clamping block 45 is larger, the relative sliding is not easy to generate, and the precision is higher.

In the present embodiment, as shown in fig. 3, the rotor structure 50 includes a second magnetic ring 51 that cooperates with the driver 20, a pinion gear seat 52 for mounting the second magnetic ring 51, a rotor gear 53 for fixing the pinion gear seat 52, a rotor front cover 54 connected to the rotor gear 53, and a sun gear 55 connected to the rotor front cover 54; the rotor gear 53 is engaged with the rotary structure 40. Specifically, the second magnetic ring 51 faces the second magnetic encoder 23, the rotor gear 53 is sleeved outside the pinion seat 52, and the rotor gear 53 is meshed with the rotary gear 41.

In the present embodiment, as shown in fig. 3, the planetary transmission mechanism 60 includes a carrier 61 rotatably connected to the inside of the housing 10, a planetary wheel shaft 62 connected to the carrier 61, a needle bearing 63 sleeved outside the planetary wheel shaft 62, and a planetary wheel 64 sleeved outside the needle bearing 63; the planet wheels 64 mesh with the rotor structure 50 and the stator structure 30, respectively. Specifically, the number of the planetary gears 64 is three, and each of the three planetary gears 64 meshes with the sun gear 55 and the ring gear 32.

In this embodiment, as shown in fig. 1 to 3, the driving cover plate 70 is further included, and the driving cover plate 70 is connected to the housing 10 and covers the driver 20. Specifically, the driver 20 is wrapped between the driving cover plate 70 and the case 10, so that the driver 20 can be protected.

In the present embodiment, as shown in fig. 2 to 3, a rear cover 80 is connected to one end of the housing 10 away from the driving cover 70, the planetary transmission mechanism 60 is rotatably connected to the rear cover 80, and the stator structure 30 is disposed on the rear cover 80. Specifically, the rear cover 80 is fixedly coupled to the housing 10 by screws.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims

1. A planetary gear motor, characterized in that: the planetary transmission mechanism comprises a shell, a driver arranged at one end of the shell, a stator structure arranged in the shell, a rotating structure rotationally connected with the shell, a rotor structure arranged in the shell and a planetary transmission mechanism connected with the rotor structure; one end of the rotating structure penetrates through the shell and is in transmission connection with the rotor structure, the stator structure is arranged in the rotor structure, and the planetary transmission mechanism is meshed with the stator structure; the driver comprises a circuit board, and a first magnetic encoder and a second magnetic encoder which are both arranged on the circuit board, wherein the first magnetic encoder is opposite to the rotating structure, and the second magnetic encoder is opposite to the rotor structure.

2. The planetary reduction motor according to claim 1, wherein: the rotating structure comprises a rotating gear, a first magnetic ring, two bearings and a fastening piece, wherein the rotating gear is rotatably connected to the shell, the first magnetic ring is matched with the driver, the two bearings are arranged between the rotating gear and the shell, and the fastening piece is used for fixing the two bearings on the rotating gear; the first magnetic ring is fixed on the rotary gear, and the shell is provided with through holes for fixing the two bearings.

3. The planetary reduction motor according to claim 2, wherein: the fastener is in contact with the inner ring of the bearing positioned at the lower layer; the rotary gear is provided with a rotor clamping block for limiting the bearing, and the rotor clamping block is in contact with an inner ring of the bearing positioned on the upper layer.

4. The planetary reduction motor according to claim 2, wherein: the stator clamping blocks are arranged in the through holes and are positioned between the two bearings, and the stator clamping blocks are in contact with the outer rings of the two bearings.

5. The planetary reduction motor according to claim 2, wherein: the fastener is a screw, and one end of the rotary gear is provided with a threaded hole in threaded connection with the screw.

6. The planetary reduction motor according to any one of claims 1 to 5, characterized in that: the stator structure comprises a stator core, a gear ring and windings, wherein the windings are respectively wound on the stator core in sequence; the gear ring is connected with the stator core, and the gear ring is meshed with the planetary transmission mechanism.

7. The planetary reduction motor according to any one of claims 1 to 5, characterized in that: the rotor structure comprises a second magnetic ring matched with the driver, a pinion gear seat for installing the second magnetic ring, a rotor gear for fixing the pinion gear seat, a rotor front cover connected with the rotor gear and a sun gear connected with the rotor front cover; the rotor gear is engaged with the rotating structure.

8. The planetary reduction motor according to any one of claims 1 to 5, characterized in that: the planetary transmission mechanism comprises a planet carrier, a planet wheel shaft, a needle roller bearing and a planet wheel, wherein the planet carrier is rotatably connected in the shell, the planet wheel shaft is connected with the planet carrier, the needle roller bearing is sleeved outside the planet wheel shaft, and the planet wheel is sleeved outside the needle roller bearing; the planet wheels are respectively meshed with the rotor structure and the stator structure.

9. The planetary reduction motor according to any one of claims 1 to 5, characterized in that: the driving cover plate is connected with the shell and covers the driver.

10. The planetary reduction motor according to claim 9, wherein: one end of the shell far away from the driving cover plate is connected with a rear cover, the planetary transmission mechanism is rotationally connected with the rear cover, and the stator structure is arranged on the rear cover.