CN223369452U - Servo joint and robot - Google Patents
Servo joint and robotInfo
- Publication number
- CN223369452U CN223369452U CN202421286149.6U CN202421286149U CN223369452U CN 223369452 U CN223369452 U CN 223369452U CN 202421286149 U CN202421286149 U CN 202421286149U CN 223369452 U CN223369452 U CN 223369452U
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- bearing
- gear
- servo joint
- driver
- servo
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Abstract
本申请提供一种伺服关节和机器人，伺服关节，包括：定子外壳、驱动器、电机和减速器，所述驱动器位于所述定子外壳内，所述电机包括定子、转子和电机轴，所述定子与所述定子外壳固定连接，且所述定子至少部分位于所述转子内，所述电机轴与所述减速器连接。这样，增强了伺服关节和驱动器的集成效果，且使得集成了驱动器的伺服关节的体积较小。
The present application provides a servo joint and a robot. The servo joint includes: a stator housing, a driver, a motor, and a reducer. The driver is located within the stator housing. The motor includes a stator, a rotor, and a motor shaft. The stator is fixedly connected to the stator housing, and the stator is at least partially located within the rotor. The motor shaft is connected to the reducer. This enhances the integration of the servo joint and the driver, and reduces the size of the servo joint with the integrated driver.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a servo joint and a robot.
Background
With the continuous development of robot technology, robots play an increasingly important role in people's lives. Currently, a servo joint and a driver are usually arranged in a robot, and the space inside the servo joint is narrow, so that the driver is usually required to be arranged outside the servo joint. It can be seen that the integration effect of the current servo joint and the driver is poor, so that the size of the servo joint is large, and when the motor outputs a large rotating speed or a large torque, the fluctuation of the rotating speed of the rotor in the motor is usually large, so that the stability of the current servo joint is poor.
Disclosure of utility model
The embodiment of the application provides a servo joint and a robot, which aim to solve the problem that the current servo joint is large in size.
To solve the above problems, the present application is achieved as follows:
In a first aspect, an embodiment of the present application provides a servo joint, including a stator housing, a driver, a motor, and a speed reducer, where the driver is located in the stator housing, the motor includes a stator, a rotor, and a motor shaft, the stator is fixedly connected with the stator housing, and the stator is at least partially located in the rotor, and the motor shaft is connected with the speed reducer.
As an optional implementation manner, the servo joint further comprises a support bearing, the support bearing sequentially penetrates through the stator and the rotor, and the motor shaft penetrates through the inner ring of the support bearing.
As an alternative embodiment, the speed reducer is an NW-type planetary speed reducer.
As an alternative embodiment, the speed reducer comprises a sun gear, a planet carrier and a transmission bearing, the motor shaft is connected with the sun gear, and the sun gear is connected with the planet carrier through the transmission bearing.
As an alternative embodiment, the transmission bearing is a deep groove ball bearing, and the number of the transmission bearings is at least two.
As an alternative implementation manner, the speed reducer further comprises a duplex planetary gear and a gear ring, the duplex planetary gear comprises a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear are both arranged on the planet carrier, the number of teeth of the first transmission gear is greater than that of the second transmission gear, the sun gear is meshed with the first transmission gear, the first transmission gear is fixedly connected with the second transmission gear, and the second transmission gear is meshed with the gear ring.
As an alternative embodiment, the speed reducer further comprises a joint housing, the gear ring is located in the joint housing, and the gear ring is fixedly connected with the inner wall of the joint housing.
As an alternative embodiment, the speed reducer further comprises a bearing outer ring gland and an output bearing, and the end of the planet carrier, which is far away from the driver, is connected with the bearing outer ring gland through the output bearing.
As an alternative embodiment, the output bearing is a deep groove ball bearing or a crossed roller bearing.
As an alternative embodiment, the servo joint further comprises a protective cover, the driver is located in the accommodating cavity of the stator housing, and the protective cover seals an opening of the accommodating cavity away from the stator.
As an alternative embodiment, the servo joint further comprises a feedback shaft, and two ends of the feedback shaft are respectively connected with the driver and a planet carrier included in the speed reducer.
In a second aspect, an embodiment of the present application provides a robot, including the servo joint in the first aspect.
In the embodiment of the application, the servo joint comprises the stator shell, the driver, the motor and the speed reducer, and the driver is positioned in the stator shell, so that the driver is arranged in the stator shell, namely the servo joint integrates the driver, thereby enhancing the integration level of the servo joint and the driver and further enhancing the integration effect of the servo joint and the driver. Meanwhile, compared with a mode that the servo joint and the driver are arranged separately, the driver is integrated in the servo joint, so that the occupied volume of the servo joint and the driver can be reduced, namely, the volume of the servo joint integrated with the driver is smaller.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
Fig. 1 is a schematic structural diagram of a servo joint according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," and the like in embodiments of the present application are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, the use of "and/or" in the present application means at least one of the connected objects, such as a and/or B and/or C, means 7 cases including a alone a, B alone, C alone, and both a and B, both B and C, both a and C, and both A, B and C.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a servo joint according to an embodiment of the present application, as shown in fig. 1, the servo joint includes a stator housing 5, a driver 2, a motor and a speed reducer, the driver 2 is located in the stator housing 5, the motor includes a stator 6, a rotor 7 and a motor shaft 8, the stator 6 is fixedly connected with the stator housing 5, and the stator 6 is at least partially located in the rotor 7, and the motor shaft 8 is connected with the speed reducer.
The working principle of the application can be seen in the following expression:
Because the servo joint comprises the stator housing 5, the driver 2, the motor and the speed reducer, and the driver 2 is positioned in the stator housing 5, the driver 2 is arranged in the stator housing 5, namely, the servo joint integrates the driver 2, so that the integration level of the servo joint and the driver 2 is enhanced, the integration effect of the servo joint and the driver 2 is further enhanced, and meanwhile, compared with the mode that the servo joint and the driver 2 are arranged separately, the driver 2 is integrated in the servo joint, so that the occupied volume of the servo joint and the driver 2 can be reduced, namely, the volume of the servo joint integrated with the driver 2 is smaller.
Wherein, motor shaft 8 wears to locate in stator 6, and driver 2 can drive the motion of reduction gear through motor shaft 8.
In an alternative use scenario, since the servo joint of the robot typically comprises a motor, the fluctuation of the rotational speed of the rotor 7 within the motor is typically large when the motor is performing a high rotational speed or a high torque output, resulting in poor stability of the current servo joint.
In order to solve the above problem, an alternative embodiment is provided, the servo joint further includes a support bearing 9, the support bearing 9 is sequentially inserted into the stator 6 and the rotor 7, and the motor shaft 8 is inserted into an inner ring of the support bearing 9.
In the embodiment of the application, the servo joint comprises the support bearing 9, and the motor shaft 8 is arranged in the inner ring of the support bearing 9 in a penetrating way, so that the coaxiality of the rotor 7 and the stator 6 is higher by arranging the support bearing 9 in the servo joint, thereby reducing the rotation speed fluctuation of the rotor 7, enhancing the rotation stability of the rotor 7, and further ensuring the high operation precision, low noise and small vibration of the servo joint.
In summary, the support bearing 9 may be used to assist in supporting the motor shaft 8, so as to ensure stable output of the motor shaft 8, i.e. enhance the stability of the output effect of the motor shaft 8. And optionally, the outer ring side wall of the support bearing 9 is abutted with the stator housing 5, the inner ring side wall of the support bearing 9 is abutted with the rotor 7, and the motor shaft 8 is arranged in the inner ring of the support bearing 9 in a penetrating manner, so that the rotor 7 and the stator housing 5 can play a limiting role on the outer ring of the support bearing 9, and further the support bearing 9 can play a limiting role on the motor shaft 8, and the rotation stability of the rotor 7 is further enhanced.
The specific type of the motor is not limited herein, and alternatively, the motor may be a frameless servo motor with an outer rotor.
The driver 2 can output a control signal to the motor, the state of the motor can be controlled according to the control signal, meanwhile, when the encoder is arranged in the servo joint, the driver 2 can also receive a feedback signal of the encoder, the driver 2 can correct the control signal according to the feedback signal, and adjust the state of the motor through the corrected control signal, so that the state of the speed reducer is adjusted, and the control effect on the power of the motor and the speed reduction control effect on the speed reducer can be further enhanced.
It should be noted that, as an alternative embodiment, the control signal may be transmitted between the driver 2 and the motor through the motor shaft 8, and the servo joint further includes a feedback shaft (not shown in the figure), where two ends of the feedback shaft are fixedly connected to the planetary carriers 12 included in the driver 2 and the reducer, respectively, and the feedback shaft may also be referred to as an output feedback shaft. Like this, can pass through feedback shaft transmission feedback reduction gear signal to make feedback signal's transmission effect comparatively stable, and increased feedback signal's transmission mode's variety.
Alternatively, referring to fig. 1, the driver 2 may include an encoder board, a power board, a control board, a motor end encoder 3, and an output end encoder 4, which may be integrated on one board, constituting a main body of the driver 2, and the motor end encoder 3 may be disposed on the motor shaft 8, and the output end encoder 4 may be disposed on the feedback shaft, such that the output end encoder 4 may be fixedly connected to the carrier 12 through the feedback shaft.
Alternatively, the motor end encoder 3 may be glued to the motor shaft 8 and the output end encoder 4 may be glued to the feedback shaft.
As an alternative embodiment, the speed reducer is an NW-type planetary speed reducer. Therefore, the speed reducer is an NW type planetary speed reducer, and the NW type planetary speed reducer has the advantages of high speed reduction ratio, large output torque, high back driving capability and the like, so that the speed reduction ratio and the output torque of the servo joint can be improved, and the back driving capability is enhanced.
As an alternative embodiment, see fig. 1, the reducer comprises a sun gear 11, a planet carrier 12 and a transmission bearing, the motor shaft 8 is connected with the sun gear 11, and the sun gear 11 is connected with the planet carrier 12 through the transmission bearing.
When the motor receives a control signal of the driver 2, the motor can rotate through the motor shaft 8 to drive the sun gear 11 to rotate, so that the sun gear 11 can be driven, and power can be output to the sun gear 11.
The planet carrier 12 can be manufactured in an integrated processing mode, so that the structural strength and the transmission precision of the planet carrier 12 can be ensured to be high.
In the embodiment of the application, the transmission bearing can enhance the transmission effect between the sun gear 11 and the planet carrier 12.
As an alternative embodiment, the transmission bearing is a deep groove ball bearing, and the number of the transmission bearings is at least two.
Alternatively, referring to fig. 1, the number of the transmission bearings may be two, and the two transmission bearings may be a first deep groove ball bearing 17 and a second deep groove ball bearing 18, respectively, and the first deep groove ball bearing 17 and the second deep groove ball bearing 18 may be located at two sides of the planet carrier 12, respectively, so that the connection stability of the sun gear 11 and the planet carrier 12 may be further enhanced.
In the embodiment of the application, the transmission bearing is a deep groove ball bearing, and the sun gear 11 is connected with the planet carrier 12 through the transmission bearing, so that the stability of the speed reducer in operation is better, namely the stability of the servo joint in operation of the speed reducer is enhanced. Meanwhile, when the number of the transmission bearings is at least two, the stability of the servo joint during the operation of the speed reducer can be further enhanced.
As an alternative embodiment, referring to fig. 1, the speed reducer further includes a duplex planetary gear 13 and a gear ring 14, the duplex planetary gear 13 includes a first transmission gear and a second transmission gear, the first transmission gear and the second transmission gear are both disposed on the planet carrier 12, the number of teeth of the first transmission gear is greater than the number of teeth of the second transmission gear, the sun gear 11 is meshed with the first transmission gear, the first transmission gear is fixedly connected with the second transmission gear, and the second transmission gear is meshed with the gear ring 14.
The modules of all gears of the sun gear 11, the duplex planetary gear 13 and the gear ring 14 can be the same, so that structural design can be facilitated, and further, the process cost is saved.
The number of the double planetary gears 13 is not limited herein, alternatively, the number of the double planetary gears 13 may be greater than 2, for example, the number of the double planetary gears 13 may be 3.
Wherein, since the number of teeth of the first transmission gear is greater than that of the second transmission gear, the first transmission gear may be referred to as a large gear and the second transmission gear may be referred to as a small gear.
And the first transmission gear and the second transmission gear included in each duplex planetary gear 13 may be referred to as a set of gears, each set of gears may be obtained by an integral processing manner, or each set of gears may be obtained by separately processing and then press-fitting, thereby forming the duplex planetary gears 13.
In the embodiment of the application, after the motor receives the control signal of the driver 2, the rotor 7 included in the motor drives the sun gear 11 to move, and the sun gear 11 can drive the first transmission gear to rotate, and the first transmission gear drives the second transmission gear to rotate, so that the planet carrier 12 is driven to rotate, and the deceleration output control of the motor is realized.
As an alternative embodiment, referring to fig. 1, the reducer further includes a joint housing 10, the gear ring 14 is located in the joint housing 10, and the gear ring 14 is fixedly connected to an inner wall of the joint housing 10.
The gear ring 14 can be fixedly connected to the joint housing 10 by pins or glue.
In the embodiment of the present application, since the ring gear 14 is fixedly connected to the inner wall of the joint housing 10, the fixing effect on the ring gear 14 can be enhanced.
As an alternative embodiment, see fig. 1, the reducer further comprises a bearing outer ring gland 15 and an output bearing 16, the end of the planet carrier 12 remote from the driver 2 being connected to the bearing outer ring gland 15 by the output bearing 16.
Wherein the end of the planet carrier 12 remote from the drive 2 may be referred to as the output end of the planet carrier 12, and the output bearing 16 may also be referred to as the output end bearing.
When the servo joint is applied to the robot, the bearing outer ring gland 15 may be connected to other parts of the robot, and the other parts may be arm or leg joints.
In the embodiment of the application, the end part of the planet carrier 12 far away from the driver 2 is connected with the bearing outer ring gland 15 through the output bearing 16, so that the servo joint can better drive the movement of other components connected with the bearing outer ring gland 15, namely, the driving effect on the other components is enhanced.
As an alternative embodiment, the output bearing 16 is a deep groove ball bearing or a crossed roller bearing.
In the embodiment of the present application, when the output bearing 16 is a deep groove ball bearing, the use cost can be reduced, and when the output bearing 16 is a crossed roller bearing, the axial and radial bearing capacity of the servo joint can be increased, and the axial and radial bending resistance of the servo joint can be increased.
As an alternative embodiment, referring to fig. 1, the servo joint further comprises a protective cover 1, the driver 2 is located in the accommodating cavity of the stator housing 5, and the protective cover 1 closes the opening of the accommodating cavity away from the stator 6.
The stator housing 5 may be provided with a wire through hole, and the driver 2 may be connected to the three-phase wire of the stator 6 through a cable passing through the wire through hole, so that the driver 2 may energize the motor through the cable and output a control signal for driving the motor to operate to the motor, so as to control the motor to output power to the reducer.
The protection cover 1 may also be referred to as a driver protection cover, and a thermal pad may be disposed between the protection cover 1 and the driver 2, that is, the driver 2 may abut against the protection cover 1 through the thermal pad, so as to enhance the heat dissipation effect of the driver 2.
In the embodiment of the present application, since the driver 2 is located in the accommodating cavity of the stator housing 5, the driver 2 can be integrated in the servo joint, that is, the integration of the servo joint to the driver 2 can be realized, and the size of the servo joint is reduced, which is very important in the robot field in which the miniaturization of the joint is pursued.
The embodiment of the application also provides a robot, which comprises the servo joint in the embodiment, and the robot provided by the embodiment of the application comprises the servo joint in the embodiment, so that the robot has the same beneficial technical effects as the embodiment, and the specific structure of the servo joint can be referred to the corresponding expression in the embodiment, and is not repeated herein.
It should be noted that, when the servo joint is applied to the robot, the servo joint may be connected to other parts of the robot, and the other parts may include arm or leg joints, etc., so as to better drive the other parts. And the servo joint may be referred to as an execution module of the robot.
While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421286149.6U CN223369452U (en) | 2024-06-06 | 2024-06-06 | Servo joint and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421286149.6U CN223369452U (en) | 2024-06-06 | 2024-06-06 | Servo joint and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN223369452U true CN223369452U (en) | 2025-09-23 |
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ID=97090150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421286149.6U Active CN223369452U (en) | 2024-06-06 | 2024-06-06 | Servo joint and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN223369452U (en) |
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2024
- 2024-06-06 CN CN202421286149.6U patent/CN223369452U/en active Active
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