CN222423329U - An integrated joint motor - Google Patents
An integrated joint motor Download PDFInfo
- Publication number
- CN222423329U CN222423329U CN202420505416.8U CN202420505416U CN222423329U CN 222423329 U CN222423329 U CN 222423329U CN 202420505416 U CN202420505416 U CN 202420505416U CN 222423329 U CN222423329 U CN 222423329U
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- assembly
- bearing
- shell
- integrated joint
- joint motor
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 37
- 239000011324 bead Substances 0.000 claims description 14
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 5
- 235000000621 Bidens tripartita Nutrition 0.000 claims 1
- 240000004082 Bidens tripartita Species 0.000 claims 1
- 208000006637 fused teeth Diseases 0.000 claims 1
- 238000009434 installation Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses an integrated joint motor which comprises a speed reducer assembly, a motor assembly, a shell and a driver assembly, wherein the motor assembly and the driver assembly are arranged on the shell, a central wheel is arranged in the middle of the motor assembly, a containing part is arranged on the outer side of the central wheel, and the speed reducer assembly is coaxially arranged in a containing cavity and meshed with the central wheel.
Description
Technical Field
The utility model relates to the field of robots, in particular to an integrated joint motor.
Background
The joint motor is a power device, and the rotary equipment connected with the joint motor is driven by the rotary motion of the output end of the joint motor. Generally, a large amount of joint motors are applied to the robot joints, the joint motors detect the gestures of external equipment through encoders and magnetic pieces, the joint motors are required to ensure the requirements of large moment, high precision and low weight in a limited space, and the traditional servo motor assembly consists of a motor, a speed reducer and a controller, so that the following problems exist:
1. the motor and the speed reducer are axially arranged, the axial dimension is overlarge, and the space occupation ratio is overlarge.
2. The need for large ratio reducers in situations where large torque is required results in an overall weight that does not meet design requirements.
3. The motor controller is external, so that the external connection cables are numerous, and the circuit layout is not facilitated.
Disclosure of utility model
In order to solve the technical problems, the utility model provides an integrated joint motor which has the advantages of large transmission ratio, large torque output and small mass and volume.
The utility model adopts the following technical scheme:
The integrated joint motor comprises a speed reducer assembly, a motor assembly, a shell and a driver assembly, wherein the motor assembly and the driver assembly are arranged on the shell, a central wheel is arranged in the middle of the motor assembly, an accommodating part is arranged on the outer side of the central wheel, and the speed reducer assembly is coaxially arranged in an accommodating cavity and meshed with the central wheel.
Preferably, the driver assembly is disposed at the bottom of the housing.
Preferably, the shell comprises a protective cover and a shell, the protective cover is arranged on the inner wall of the shell, and the motor assembly is coaxially arranged in the shell.
Preferably, the shell comprises a shell body, a first containing cavity and a second containing cavity, wherein the first containing cavity and the second containing cavity are arranged on two sides of the shell body, the speed reducer assembly and the motor assembly are arranged in the first containing cavity, and the driver assembly is arranged in the second containing cavity.
Preferably, the speed reducer assembly comprises a planet wheel, a copper sleeve, a planet gear and a gear ring, wherein the planet wheel is coaxially arranged with the copper sleeve and meshed with the central wheel, the copper sleeve is coaxially arranged with the planet gear, and the planet gear is meshed with the gear ring.
Preferably, the planet gears are fixedly connected with the planet gears to form double teeth.
Preferably, the speed reducer assembly further comprises a flange bearing, an output planet carrier, a bearing seat, a crossed roller bearing, a stator support and an inner planet carrier, wherein the flange bearing is installed inside the output planet carrier, the output planet carrier is coaxially installed inside the crossed roller bearing, the bearing seat is coaxially installed on the stator support, the crossed roller bearing is located between the output planet carrier and the bearing seat, the gear ring is coaxially installed on the stator support, and the inner planet carrier is coaxially installed with the output planet carrier.
Preferably, the motor assembly further comprises a stator coil, a first bearing, a rotor and a second bearing, wherein the center wheel and the rotor are coaxially arranged, the stator coil is coaxially arranged on the rotor, and the first bearing and the second bearing are respectively coaxially arranged on two sides of the rotor.
Preferably, the driver component comprises a magnetic bead seat, magnetic beads and a driving plate, wherein the magnetic beads are coaxially arranged on the magnetic bead seat.
Preferably, the central wheel of the motor assembly extends a distance beyond the stator coil, and the speed reducer assembly is engaged with the central wheel and positioned above the stator coil.
Compared with the prior art, the integrated joint motor has the advantages that the integrated joint motor comprises the speed reducer assembly, the motor assembly, the shell and the driver assembly, wherein the motor assembly and the driver assembly are arranged on the shell, the central wheel is arranged in the middle of the motor assembly, the accommodating part is arranged on the outer side of the central wheel, the speed reducer assembly is coaxially arranged in the accommodating part and meshed with the central wheel, the traditional axial installation mode of the motor and the speed reducer is changed, the speed reducer assembly is arranged inside the motor assembly, the installation height of the motor and the speed reducer is reduced, the transmission ratio is large, the torque output is large, and the mass is small.
Drawings
FIG. 1 is an overall exterior view of an integrated joint motor;
FIG. 2 is a schematic diagram of the components of an integrated joint motor;
FIG. 3 is an exploded view of the reducer assembly;
FIG. 4 is an exploded view of the motor assembly;
FIG. 5 is an exploded view of the drive assembly structure;
FIG. 6 is a cross-sectional view of example 2;
fig. 7 is a partial schematic structural diagram of embodiment 2.
In the figure, a speed reducer assembly 1, a flange bearing 1-1, an output planet carrier 1-2, a bearing seat 1-3, a crossed roller bearing 1-4, a planet wheel 1-5, a copper sleeve 1-6, a planet gear 1-7, a gear ring 1-8, a stator support 1-9, an inner planet carrier 1-10, a motor assembly 2, a center wheel 2-1, a stator coil 2-2, a first bearing 2-3, a rotor 2-4, a first bearing 2-5, a protective cover 3, a shell 4, a driver assembly 5, a magnetic bead seat 5-1, a magnetic bead 5-2 and a driving plate 5-3.
Detailed Description
In order to facilitate understanding of the technical scheme of the present utility model, the following detailed description is made with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in figures 1-5, the integrated joint motor comprises a speed reducer assembly 1, a motor assembly 2, a shell and a driver assembly 5, wherein the motor assembly 2 and the driver assembly 5 are arranged on the shell, a central wheel 2-1 is arranged in the middle of the motor assembly 2, a containing cavity is arranged outside the central wheel 2-1, and the speed reducer assembly 1 is coaxially arranged in the containing cavity and meshed with the central wheel 2-1, so that the traditional axial installation mode of the motor and the speed reducer is changed, the speed reducer assembly 1 is installed inside the motor assembly 2, the installation heights of the speed reducer assembly 1 and the motor assembly 2 are reduced, and the joint volume is reduced.
Specifically, the shell comprises a protection cover 3 and a shell 4, the protection cover 3 is arranged on the inner wall of the shell 4, the motor component 2 is coaxially arranged in the shell 4, the driver component 5 is arranged at the bottom of the shell 4, the shell 4 comprises a shell body, a first containing cavity and a second containing cavity which are positioned at two sides of the shell body, the speed reducer component 1 and the motor component 2 are positioned in the first containing cavity, and the driver component 5 is positioned in the second containing cavity, namely the height of the joint motor is equal to or similar to that of the shell 4.
In some embodiments, as shown in FIG. 3, the reducer assembly 1 includes a flange bearing 1-1, an output planet carrier 1-2, a bearing housing 1-3, a cross roller bearing 1-4, a planet wheel 1-5, a copper sleeve 1-6, a planet gear 1-7, a ring gear 1-8, a stator support 1-9, and an inner planet carrier 1-10, the flange bearing 1-1 mounted inside the output planet carrier 1-2, the output planet carrier 1-2 mounted coaxially inside the cross roller bearing 1-4, the bearing housing 1-3 mounted coaxially to the stator support 1-9, the cross roller bearing 1-4 positioned between the output planet carrier 1-2 and the bearing housing 1-3, the planet wheel 1-5 mounted coaxially with the copper sleeve 1-6 and meshed with the sun gear 2-1, the copper sleeve 1-6 mounted coaxially with the planet gear 1-7, the planet gear 1-7 intermeshed with the ring gear 1-8, the ring gear 1-8 mounted coaxially with the stator support 1-9, the inner planet carrier 1-2 mounted coaxially with the output planet wheel 1-2 and capable of rotating coaxially with the planet wheel 1-5 and rotatably coupling the planet wheel 1-5 with the sun gear 1-1.
As shown in fig. 4, the motor assembly 2 comprises a central wheel 2-1, a stator coil 2-2, a first bearing 2-3, a rotor 2-4 and a second bearing 2-5, wherein the central wheel 2-1 and the rotor 2-4 are coaxially arranged, the stator coil 2-2 is coaxially arranged on the rotor 2-4, and the first bearing 2-3 and the second bearing 2-5 are respectively coaxially arranged on two sides of the rotor 2-4.
As shown in FIG. 5, the driver component 5 comprises a magnetic bead seat 5-1, a magnetic bead 5-2 and a driving plate 5-3, wherein the magnetic bead 5-2 is coaxially arranged on the magnetic bead seat 5-1, and the driving plate 5-is an integrated controller.
Example 2
As shown in fig. 6-7, the integrated joint motor comprises a speed reducer assembly 1, a motor assembly 2, a shell and a driver assembly 5, wherein the motor assembly 2 and the driver assembly 5 are arranged on the shell, a central wheel 2-1 is arranged in the middle of the motor assembly 2, a containing part is arranged outside the central wheel 2-1, and the speed reducer assembly 1 is coaxially arranged in the containing cavity and meshed with the central wheel 2-1, so that the traditional axial installation mode of the motor and the speed reducer is changed, the installation heights of the speed reducer assembly 1 and the motor assembly 2 are reduced, and the joint volume is reduced.
Specifically, the shell comprises a shell 4, a motor component 2 is coaxially arranged in the shell 4, a driver component 5 is arranged at the bottom of the shell 4, the shell 4 comprises a shell body, a first containing cavity and a second containing cavity which are positioned at two sides of the shell body, the speed reducer component 1 and the motor component 2 are positioned in the first containing cavity, and the driver component 5 is positioned in the second containing cavity, namely, the height of the joint motor is equal to or similar to that of the shell 4.
The central wheel 2-1 of the motor assembly 2 extends out of the stator coil 2-2 by a certain distance, and the speed reducer assembly 1 is meshed with the central wheel 2-1 and is located above the stator coil 2-2.
The foregoing is merely a preferred embodiment of the present utility model, and the scope of the utility model is defined by the claims, and those skilled in the art should also consider the scope of the present utility model without departing from the spirit and scope of the utility model.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420505416.8U CN222423329U (en) | 2024-03-15 | 2024-03-15 | An integrated joint motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420505416.8U CN222423329U (en) | 2024-03-15 | 2024-03-15 | An integrated joint motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222423329U true CN222423329U (en) | 2025-01-28 |
Family
ID=94360087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420505416.8U Active CN222423329U (en) | 2024-03-15 | 2024-03-15 | An integrated joint motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222423329U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120955977A (en) * | 2025-08-18 | 2025-11-14 | 任工制造(苏州)有限公司 | A joint motor |
-
2024
- 2024-03-15 CN CN202420505416.8U patent/CN222423329U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120955977A (en) * | 2025-08-18 | 2025-11-14 | 任工制造(苏州)有限公司 | A joint motor |
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