TWI695568B - Motor module - Google Patents

Abstract

A motor module including an outer rotor motor, a cycloid reducer and a casing structure is provided. The outer rotor motor includes a stator and an outer rotor connected to each other, the outer rotor and the stator have a bearing connected therebetween, the stator has an axle portion, the axle portion has a first step and second step, the first step is a round shaft, the second step is a thread having two planes formed thereon, the stator is partially hollow and has a motor body cable therein, the motor body cable extends to an outlet on an end of the axle portion, the axle portion protrudes from a body of the outer rotor motor, and a motor-driving circuit is disposed on a rear end of the outer rotor motor. The cycloid reducer is connected to the outer rotor motor. The casing structure covers the outer rotor motor and is connected to the cycloid reducer, and the axle portion is fastened to the casing structure such that the outer rotor motor is assembled with the casing structure through the axle portion.

Description

Motor module

The invention relates to a motor module, and in particular to a motor module applying an external rotation motor.

The hub motor is a DC brushless external rotation motor. The main difference from the direct drive motor is the winding of the motor coil, the locking method, and the feedback accuracy. The typical motor position feedback method usually uses the connection drive of the motor shaft and the external encoder. The encoder is divided into optical, magnetic, resistive, and capacitive according to the principle. The servo hub motor is widely used in electric vehicles, so it is easy to obtain. If you want to apply the servo hub motor to the mechanical arm, you need to combine it with the reducer as a motor module.

The invention provides a motor module, which is well integrated with an external rotation motor and a speed reducer.

The motor module of the present invention includes an external rotation motor, a cycloidal reducer and a housing structure. The outer-rotation motor includes a fixed stator and an outer rotor. The outer rotor and the stator are connected by bearings. The stator has a shaft portion, and the shaft portion has a first stage and a The second stage, the first stage is a round shaft, the second stage is a thread cut with two planes, the stator is partially hollow and has a motor body circuit inside, the motor body circuit extends to an outlet at the end of the shaft portion, the shaft portion from the outside The main body of the rotary motor protrudes, and a motor drive related circuit is installed at the rear end of the external rotary motor. The cycloid reducer is connected to the external rotation motor. The casing structure covers the external rotation motor and is connected to the cycloidal reducer, and the shaft portion is locked to the casing structure so that the external rotation motor and the casing structure are assembled with each other through the shaft portion.

In an embodiment of the present invention, the above-mentioned housing structure includes a fixing piece, a passive end connector, and a motor protective shell. The fixing piece has a stepped hole, the stepped hole is a straight hole, and the thread at the end of the shaft portion passes through the straight hole , The class hole is against the flange surface of the stator end, and the locking nut is locked into the thread of the shaft to lock the external rotation motor and the fixing plate, the motor protective shell is engaged with the fixing plate, the passive end connection piece and the fixing plate Join.

In an embodiment of the present invention, the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, a first-stage cycloid, and a second Stepped cycloid, a second-stage roller needle shell, a reducer protective shell, a set of rollers, a protective shell cover and a drive end connector, the first-stage roller needle shell has several roller holes and Connected with the motor protection shell, each roller hole is equipped with a roller, the sleeve has two eccentric bodies, the phase difference of the two eccentric bodies is 180 degrees, and a first eccentric bearing and a second eccentric body are respectively installed on the two eccentric bodies An eccentric bearing, there is a support disk bearing between the two eccentric bodies, the sleeve has a key slot hole, and the key slot hole is engaged with an input shaft on the outer rotor, the support disk has several support disk roller holes and is engaged with the support disk bearing, These support disk rollers are engaged with these support disk roller holes. The circumference of the first-order cycloid has a plurality of arc-shaped teeth and is engaged with the first eccentric bearing on the sleeve. The first-order cycloid The blade engages with the rollers on the first-stage roller needle shell. The circumference of the second-stage gerotor has a plurality of arc-shaped teeth and is engaged with the second eccentric bearing on the bushing. The second-stage roller needle shell has several Roller holes, each roller hole is equipped with a roller, a bearing in the second-stage roller needle shell is engaged with the shaft sleeve, and the second-stage cycloid is engaged with these rollers on the second-stage roller needle shell. One end of the reducer protective shell is engaged with the first-stage roller needle shell, the other end of the reducer protective shell is installed with a thin bearing to engage with the second-stage roller needle shell, and the protective shell cover is installed on the second-stage roller needle shell , The drive end connector is engaged with the second-stage roller needle housing; the number of these rollers on the first-stage roller needle housing is 1 to 2 more than the number of teeth of the first-stage gerotor, the second-stage roller The number of these rollers on the needle housing is 1 to 2 more than the number of teeth of the second-stage gerotor.

In an embodiment of the present invention, the above-mentioned two eccentric bodies and the bushings are provided with support disk bearings independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the shaft bushings with support disk bearings and the input shaft Integration.

The motor module of the present invention includes an external rotation motor, a cycloid reducer, a housing structure and a circuit. The outer-rotation motor includes a stator and an outer rotor, wherein the outer rotor and the stator are connected by bearings, wherein the stator has a shaft portion, the shaft portion is partially hollow, and has a first stage, a second stage, and a first stage Three classes, of which the second class is located between the first class and the third class, one of the first class and the second class is a circular axis cut off two planes, the other of the first class and the second class is A round shaft, the third stage is a thread cut off two planes, there is a motor body circuit in the shaft part, the motor body circuit extends to an outlet of the end of the shaft part, the shaft part protrudes from the main body of the motor, and the rear end of the external rotation motor Install a motor drive related circuit. The cycloid reducer is connected to the external rotation motor. The casing structure covers the external rotation motor and is connected to the cycloid reducer, wherein the shaft portion is locked to the casing structure so that the external rotation motor is assembled with the casing structure through the shaft portion. The circuit enters the motor module and surrounds the shaft.

In an embodiment of the present invention, the above-mentioned housing structure includes a fixing piece, a spacing sleeve, a passive end connector and a motor protective case. The fixing piece has a stepped hole, and the stepped hole is a straight hole. The fixing piece is installed in Between the first class and the second class, the motor protective shell is connected to the fixing plate, the second class has a spacer sleeve, a passive end connector has a class hole, the class hole is a straight hole, and the thread at the end of the shaft portion passes through the class hole, The class hole is installed between the second class and the third class, and a locking nut is fixed to the shaft part to limit the axial displacement of the fixing piece, the spacer sleeve, the passive end connector and the motor protective shell.

In an embodiment of the present invention, the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, a first-stage cycloid, and a second Stepped cycloid, a second-stage roller needle shell, a set of rollers, a reducer protective shell and a drive end connector, the first-stage roller needle shell has several roller holes, and each roller hole is installed A roller, the first-stage roller needle shell is connected with the motor protection shell, the spacing sleeve is separated by a passive end connector and a fixing piece, so that the space between the passive end connector and the fixing piece is provided for wiring around the shaft sleeve; There are two eccentric bodies, the phase difference of the two eccentric bodies is 180 degrees, a first eccentric bearing and a second eccentric bearing are respectively installed on the two eccentric bodies, a support disk bearing is arranged between the two eccentric bodies, and the shaft sleeve has a key groove Holes, with keyed holes to engage with an input shaft on the outer rotor, the support disk has several support disk roller holes and is engaged with the support disk bearings, a plurality of support disk rollers are engaged with these support disk roller holes, the first stage The circumference of the cycloid has a plurality of arc-shaped teeth and the first on the sleeve The eccentric bearing is engaged, the first-order cycloid is engaged with these rollers on the first-stage roller needle shell, and the circumference of the second-order cycloid has a plurality of arc-shaped teeth that are engaged with the second eccentric bearing on the sleeve , The second-stage roller needle shell has several roller holes, each roller hole is installed with a roller, the second-stage cycloid is engaged with these rollers on the second-stage roller needle shell, and the reducer protective shell is one Inner class straight cylinder protective cover with one side hole, there is a joint for connecting line on the side hole, a thin bearing in the protective case of the reducer is engaged with the first-stage roller needle shell, the driving end connecting piece is connected with the second-stage roller needle Shell joint; wherein the number of these rollers on the first-stage roller needle shell is 1 to 2 more than the number of teeth of the first-stage cycloid disc, and the number of these rollers on the second-stage roller needle shell is larger than that of the second The number of teeth of the step cycloid is 1 to 2 more.

In an embodiment of the present invention, the above-mentioned line enters through the side hole of the reducer protective shell, and a rotating conductive slip ring is installed in the space between the passive end connector and the fixing piece.

In an embodiment of the present invention, the above-mentioned two eccentric bodies and the bushings are provided with support disk bearings independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the shaft bushings with support disk bearings and the input shaft Integration.

In an embodiment of the invention, the above-mentioned motor modules are connected in series with each other to form a robot arm.

Based on the above, the present invention integrates the outer-rotation motor and the reducer into a motor module. The housing structure is used to wrap the outer-rotation motor and connect to the reducer. The existing shaft portion of the outer-rotation motor can be used for the housing structure Assembly with external rotation motor. In addition, the existing shaft of the external rotation motor can be routed around the circuit to avoid the circuit being wound around the device. And occupy more space and affect its appearance. Under the configuration of the present invention, the existing shaft portion of the external rotation motor not only does not hinder the integration of the external rotation motor and the speed reducer, but also facilitates the assembly of the motor module.

In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.

1: locking nut

2: fixed piece

3. 104: Passive end connector

4: External rotation motor

5: input shaft

6, 76, 711A, 751A: protective shell

7, 853, 862: reducer

21: flange face

22: Locking hole

41, 41A: stator

41a: Shaft

41B, 41F: thread

41C, 41G: Class

41D, 41E: Class side

42: coil

43, 78A, 87, 106, 733, 734, 736, 737, 751: bearings

44: outer rotor

45: Drive circuit board

46: locking screw

47: Side hole

71, 71A: First-order roller needle shell

71B: Lock cover

72: first order cycloid

73: Combination of roller support disk and shaft sleeve

74: second order cycloid

75, 75A: second-order roller needle shell

77: protective cover

78: thin bearing

81: Robot arm base

82: First connector

83: Second connector

84: third connector

85: fourth connector

86: Fifth connector

88: connecting shaft

91: First axis arm joint

92: Second axis arm joint

93: Third axis arm joint

94: fourth axis arm joint

101: line transfer group

101A: line adapter

102: flat cable

102A: Flat cable

103: line

105: drive connector

107: Motor body circuit

108: spacer

712A: First order roller needle housing

721, 741: roller hole

732: Roller

731: First spacer

735: Support plate

738: Second spacer

739: Slot

752A: Second-order roller needle housing

851, 861: Servo motor

852: belt set

Figure 1 is a schematic diagram of a type 1 combination of mechanical arm joints.

Fig. 2 is a sectional view of the combination of the external rotation motor.

Figure 3 is an auxiliary view of the fixing plate.

Figure 4 is a schematic diagram of two-stage cycloid reducer combination.

Figure 5 is an auxiliary view of the second-stage roller needle housing.

Figure 6 is a schematic diagram of the combination of roller support disk and bushing.

Fig. 7 is a cross-sectional view of the shaft sleeve, the bearing, and the gerotor.

Fig. 8 is a schematic diagram of the cooperation between the cycloid and the support roller.

Fig. 9 is a cross-sectional view of the second-type stator of the external rotation motor.

Fig. 10 is a cross-sectional view of a type 1 stator of an external rotation motor.

Fig. 11 is a schematic diagram of the two-type combination of mechanical arm joints.

Fig. 12 is a sectional view of the type 2 joint of a robot arm.

Figure 13 is a schematic diagram of the disassembly of the needle housing.

Figure 14 is a schematic diagram of six-axis robot arm combination.

Figure 15 is a schematic diagram of the end structure of the robot arm.

The embodiment of the present invention includes two types of mechanical arm joint structures, of which one type of mechanical arm joint is designed for convenient disassembly and assembly. When a joint needs to repair motor components or circuits, the motor can be taken out independently without disassembly and assembly. Arm connector. The mechanical arm joint type 2 is designed for convenient wiring, mainly to make the line winding on a very small shaft diameter (motor stator), so the length reserved for the line can be greatly reduced, and it is used with the line transfer group to switch the flat cable And round beam type cable to save space. Outer-rotation motor type 1 and outer-rotation motor type 2 are used to represent the mechanical arm joint type 1 and robot arm joint type 2, respectively.

Please refer to Figure 1 for a schematic diagram of the type 1 joint combination of the mechanical arm. The figure mainly illustrates the combination relationship of the arm joints, especially referring to the combination of the external rotation motor and the second-order cycloid reducer into a primary system (motor module). The embodiment becomes a joint driving source of the robot arm. The motor modules can be connected in series to form a robot arm. The combination relationship of each motor module is described as follows.

The outer rotation motor drive circuit board 45 is locked into the rear end of the outer rotation motor (for example, a hub motor) 4 with a locking screw 46. The outer rotation motor drive circuit board 45 includes a motor drive board, a controller, and other related circuits. The outer-rotation motor fixing plate 2 is engaged with the outer-rotation motor 4 and locks the lock nut 1 onto the shaft portion 41a of the outer-rotation motor 4, thereby restricting the outer-rotation motor fixing plate 2 and the outer-rotation motor 4 . The external rotation motor fixing piece 2 is engaged with the passive end connector 3. Outer rotation of reducer input shaft 5 and outer rotation motor 4 The sub 44 is engaged, and the input shaft 5 of the speed reducer here is also the output shaft of the external rotation motor 4. The outer-rotation motor protective shell 6 is engaged with the passive-end connector 3, and at this time, the outer-rotation motor protective shell 6 can become the fixed surface of the reducer. The sleeve of the second-order cycloidal reducer 7 is engaged with the input shaft 5 of the reducer, so that the reducer 7 is connected to the external rotation motor 4. The output surface of the second order cycloidal reducer 7 is connected to the next connector. The packaging mode of the second order cycloidal reducer 7 is similar to the general RV reducer and harmonic reducer, that is, a fixed surface, an input terminal, and an output surface, so in this joint type, the second order cycloid can be The reducer was replaced with the other two reducers.

Please refer to FIG. 2 for a sectional view of the combination of the external rotation motor, which mainly illustrates the internal structure of the external rotation motor and the combination mode of the external rotation motor. The external rotation motor is mainly composed of the external rotation motor stator 41, the motor bearing 43, and the motor. The coil 42 and the outer rotor (motor rotor) 44 of the external rotation motor are formed. The stator 41 and the outer rotor 44 have a bearing connection. The motor stator 41 has a hollow portion, and a motor stator side hole 47 allows the circuit of the motor and the drive circuit board 45. In and out, the line in this hollow portion extends to the outlet at the end of the shaft portion 41a. The end of the shaft portion 41a of the stator 41 of the external rotation motor is externally threaded, and the external thread is cut off two planes. The end of the shaft part 41a of the stator 41 of the outer rotating motor has a step, and the flange surface of this step abuts on the flange surface 21 of the fixing plate of the outer rotating motor, wherein the fixing plate 2 has a step hole, and the step hole is a straight hole. The diameter of the hole is the distance between the two planes. The thread at the end of the shaft portion 41a passes through the straight hole. This class hole is installed between the second class and the third class and resists the end of the stator 41. Describe the flange face of the class. Next, the locking nut 1 is locked into the thread of the shaft portion 41a of the stator 41 of the external rotation motor to lock the external rotation motor 4 and the fixing plate 2 and restrict the fixing plate 2 from The external rotation motor 4 aligns the two parts with the axis. The inner hole diameter of the outer rotation motor protective shell 6 and the passive end connector 3 must be larger than the outer diameter of the outer rotation motor 4 to enable the outer rotation motor 4 to be drawn out, so that the joint of the mechanical arm is easy to disassemble. That is, the outer casing 6 of the outer-rotation motor and the passive-end connector 3 have holes larger than the diameter of the outer-rotation motor 4. If there is no need for convenient disassembly and assembly of the motor, the outer rotation motor fixing piece 2 and the passive end connector 3 can be integrated into one to increase the strength of the connector.

As shown in FIGS. 1 and 2, the stator 41 has a shaft portion 41 a that protrudes from the main body of the external rotation motor 4. The casing structure (including the fixing piece 2, the passive end connector 3 and the motor protective shell 6) wraps the external rotation motor 4 and is connected to the reducer 7. The shaft portion 41a of the external rotation motor 4 passes through the fixing piece 2 of the casing structure and is locked by the locking nut 1 to be assembled with the fixing piece 2 of the casing structure by the shaft portion 41a. When the external rotation motor is applied to the vehicle, the shaft portion is used to connect the tire of the vehicle. Here, the external rotation motor 4 is applied to, for example, a robot arm and is integrated with the reducer 7 through the housing structure, and its existing shaft portion can be used to perform the external rotation motor and the housing structure as described above Assembly between. Therefore, the existing shaft portion of the external rotation motor not only does not hinder the integration of the external rotation motor and the reducer, but also facilitates the assembly of the motor module.

Please refer to FIG. 3 for the auxiliary view of the fixing piece. The outermost end of the shaft part 41a of the stator 41 of the external rotation motor is tied with an external thread, and the external thread is cut off two planes. As shown in FIG. 3, the outer-rotation motor stator 41, the outer-rotation motor fixing piece locking hole 22 is a straight hole, so placing the outer-rotation motor stator 41 in the hole can limit the radial displacement of the outer-rotation motor. The parts are aligned with the axis, so the external rotation motor 4 is completely locked to the motor fixing piece 2 as shown in FIG. 2.

Please refer to FIG. 4 and FIG. 5, which is a schematic diagram of the internal components of the two-stage cycloidal reducer 7 in FIG. 1. The cycloid disc and the roller needle shell generate eccentric motion through the eccentric bushing and the bearing on the eccentric bushing. In addition, due to the difference between the number of rollers on the roller needle shell and the number of teeth of the cycloid plate, which results in rolling meshing, the number of rollers in the roller needle shell of the embodiment of the present invention are all 1 more than the number of teeth of the cycloid plate, and the first-stage pendulum The number of teeth of the thread plate is more than 1 to 2 teeth of the second order cycloid tooth. The first-stage roller needle housing 71 has a plurality of roller holes and is engaged with the motor protective shell. Each roller hole is provided with a roller 711, and the plurality of rollers 711 are engaged with the first-stage cycloid 72. The rollers in the roller support disc and bushing combination 73 are engaged with the roller holes of the first-order gerotor 72. The rollers in the roller support disk and bushing combination 73 are then engaged with the roller holes of the second-stage gerotor 74. The second-stage roller needle housing 75 has a plurality of roller holes, each roller hole is installed with a roller 752 and a plurality of rollers 752 are engaged with the second-stage cycloid 74, and FIG. 5 is a second-stage roller needle housing 75 is an auxiliary view in which the second-order roller needle shell bearing 751 in FIG. 5 is engaged with the bushing in the roller support disk and bushing combination 73. One end of the reducer protective shell 76 is engaged with the first-stage roller needle shell 71, and the other end of the reducer protective shell 76 is fitted with a thin bearing 78 to be engaged with the second-stage roller needle shell 75. Wherein, the reducer protective shell 76 may be an inner class straight cylinder protective cover and may have a side hole, the side hole has a connector for connecting the line for the line to enter, and the thin bearing 78 is provided in the protective cover. The driving end connector is engaged with the second-stage roller needle housing 75, and finally the protective cover 77 is attached to the second-stage roller needle housing 75 to engage with the reducer protective housing 76 to protect internal parts and limit axial displacement. The fixed surface of the reducer is the first-stage roller needle housing 71, and the output surface of the reducer is the second-stage roller needle housing 75. The second-stage roller needle housing 75 and the driving end connector can also be integrated into one.

Please refer to FIG. 6, which is an exploded schematic view of the roller support disc and bushing combination 73 of FIG. 4. The support disc 735 has circular grooves on both sides. The first spacer 731 and one of the circular grooves on the support disc 735 The first-stage cycloid 72 is joined and held against, which is intended to space the cycloid and the support disc to avoid the cycloid directly rubbing the support disc. The support disk roller 732 is engaged with the support disk roller hole of the support disk 735. The second spacer 738 is engaged with another circular groove of the support disk 735 and bears against the second-stage cycloid 74. The first-stage cycloid bearing 733 is engaged with the sleeve 734. The support disk bearing 736 is engaged with the sleeve 734. The second-stage cycloid bearing 737 is engaged with the sleeve 734. The sleeve 734 has two eccentric circular shafts (eccentric bodies) and concentric circular shafts. The phase difference between the two eccentric circular shafts is 180 degrees. A first eccentric bearing and a second eccentric bearing are installed on the two eccentric circular shafts, respectively. The concentric shaft has a support disk bearing 736 engaged with the support disk roller 732. The periphery of the first-stage cycloid 72 has a plurality of arc-shaped teeth that are engaged with the first eccentric bearing on the sleeve 734. The periphery of the second-stage cycloid 74 has a plurality of arc-shaped teeth that are engaged with the second eccentric bearing on the sleeve 734. The positions of the two eccentric bodies and the bushing 734 where the support disk bearing 736 is installed are independent of each other and are respectively mounted to the input shaft, or the positions of the two eccentric bodies and the bush 734 where the support disk bearing 736 is installed are integrated with the input shaft.

Please refer to Figure 7, the cross-sectional view of the shaft sleeve and the bearing and the gerotor, which mainly explains the completed shaft sleeve combination, and the bearings in the reducer are installed on the same shaft sleeve (as shown in the first-order gerotor bearing 733, the combination of support disk bearing 736, second order cycloid bearing 737, and bushing 734) facilitates the insertion and removal of the motor input shaft, and also makes the internal components of the reducer aligned with the center, and the shaft input surface of the reducer is the shaft Set of 734 with keyway Hole 739.

Please refer to Figure 8 for the schematic diagram of the coordination between the cycloid and the support roller. The phase difference between the two cycloids is 180 degrees (the difference between the two eccentric bushings is 180 degrees), and the cycloid rollers on the two cycloids The area where the holes 721 intersect is connected by the support disk roller 732 (a circle tangent to the intersection at the intersection of the two circles is the support disk roller 732), also refer to the first-order cycloid 72 and the The relationship between the second-order cycloid 74 and the support disk roller 732, the upper edge of the first-order cycloid roller hole 721 is tangent to the support disk roller 732, and the lower edge of the second-order cycloid roller hole 741 is connected to the support The disc roller 732 is tangent, so that the second-order cycloid 74 moves through the support disc 735 and the support disc roller 732 to be constrained by the first-order cycloid 72, and can also be regarded as two cycloids as a whole, so the main The driving element is a first order cycloid 72, and the passive element is a second order cycloid 74. The two gerotors must have a tooth difference to enable the second-order gerotor 74 to drive the second-stage roller needle housing 75. The first-order gerotor has more teeth than the second-order gerotor 1 to 2 teeth, and The quality must be the same, otherwise there will be shaking.

Please refer to the cross-sectional view of the second-type stator of the external rotation motor of FIG. 9 and the cross-sectional view of the first-type stator of the external rotation motor of FIG. 10. The outer-rotation motor stator described in FIG. 9 is applied to the type 2 of the robot arm joint. The combination of motor components is the same as that of the outer-rotation motor stator 41, the outer-rotation motor coil 42, the outer-rotation motor bearing 43, and the outer-rotation motor outer rotor 44 of FIG. 2, the difference is that the shaft portion of the stator 41 has more steps ( As shown in FIG. 9, the first-stage surface 41D, the second-stage thread 41B, and the third-stage 41C or the first-stage 41G and the second-stage 41F shown in FIG. 10), wherein the outer-rotation motor stator two-type geometric class 41C A round shaft is cut off two planes, the geometry and the stator of the external rotation motor The type 2 locking thread 41B is similar to the type 1 locking screw 41F of the external rotation motor stator, which uses this geometry to limit the objects to be fixed (refer to the geometry of the external rotation motor stator 41 and the fixing piece locking hole 22 in FIG. 3 Limit relationship). The fixing piece 2 is installed between the first stage and the second stage. The spacer sleeve 108 is on the second level and separates the passive end connector and the fixing piece so that the space between the passive end connector and the fixing piece is provided for wiring. A rotating conductive slip ring can be installed in the space between the passive end connector and the fixing piece.

Please refer to FIG. 11 for a schematic diagram of the combined type 2 joint of the robot arm. The driving connector 105 is engaged with the second-stage roller needle housing 75A, and the second-stage roller needle housing 75A has a side hole, and a line adapter group 101 is provided on the side hole , The line transfer group 101 mainly converts the round beam line into a flat cable, and switches to a flat cable. It can effectively save the joint space of the robot arm in the second-stage roller needle shell 75A, and in the roller needle shell 75A is equipped with a thin bearing 78A. The roller support disk and bushing combination 73 is engaged with the first-stage cycloid 72 and the second-stage cycloid 74 (the bonding relationship is shown in FIG. 7), and the first-stage cycloid 72 and the first-stage roller needle shell 71A is engaged. At the same time of engagement, the first-stage roller needle housing 71A has a stage, so that the thin bearing 78A installed in the roller needle housing 75A will be stuck in this stage, as shown in FIG. 12, then the second stage The gerotor 74 is engaged with the second-stage roller needle housing 75A, and the second-stage roller needle housing 75A is engaged with the drive connection member 105, and the drive connection member 105 has a drive connection member bearing 106, a roller support disk and a sleeve The sleeve 734 in the combination 73 is engaged (shown in FIG. 7). The external rotation motor 4 is engaged with the reducer input shaft 5, and the reducer input shaft 5 is engaged with the keyed hole 739 in the roller support disc and bushing combination 73 (shown in FIG. 7). The center of the first-stage roller needle housing type 2 lock cover 71B has a geometric shape that is in line with the geometry type 41C (as shown in FIG. 9) of the outer rotor motor stator type 2 geometric class Same hole (different from the geometric limitation relationship between the outer rotor motor stator 41 and the fixing piece locking hole 22 in FIG. 3 is that this hole is not a straight hole but a hole with a geometric shape consistent with the motor stator type 2 geometric class 41C), and The first-stage roller needle housing type 2 lock cover 71B abuts against the outer-rotation motor stator second-type first stage surface 41D (as shown in FIG. 9) and is engaged with the first-stage roller needle housing 71A. The passive end connector 104 is engaged with the outer-rotation motor stator type 2 locking thread 41B (please refer to the engagement relationship between the outer-rotation motor stator 41 and the fixing piece locking hole 22 in FIG. 3) and resists the outer-rotation motor stator type 2 The second-level surface (flange surface) 41E (as shown in FIG. 9), and finally the locking nut 1 is used to lock the second-type locking thread 41B of the stator of the external rotation motor, the passive end connector 104 and the first-stage roller needle There is a space in the middle of the shell 71A so that when the joint rotates, the internal circuit 103 of the joint can perform the winding work centered on the second-type locking screw 41B of the external motor stator. Due to the small diameter of the locking screw, the required winding space is greatly reduced One end of the joint internal line 103 is led out of the hole of the passive end connector 104, and the other end is connected to the line transfer group 101 (as shown in FIG. 12).

Please refer to the sectional view of the type 2 joint of the robot arm in FIG. 12, the input shaft 5 of the speed reducer and the first-order gerotor 72, the roller support disk and bushing combination 73, and the second-order gerotor 74 are omitted in this illustration. The main part is to explain the detailed winding mode of the line and the connection between the motor stator and the fixed object; the line transfer group 101 includes two line adapters 101A and a flat cable 102A, which is located in the second-order rolling The line adapter 101A inside the sub-needle housing 75A is locked inside the second-stage roller needle housing 75A, while the other 101A is locked outside the second-stage roller needle housing 75A, so that the flat cable 102A is received Restrained, will not twist due to the rotation of the arm joints, this It also makes the inner diameter of the second-stage roller needle housing 75A only need to be larger than the outer diameter of the first-stage roller needle housing 71A, which can eventually reduce the overall outer diameter of the arm joint; when the mechanical arm joint rotates, the joint The internal circuit 103 will do the winding work with the outer rotor motor stator as the center. Due to the extremely small diameter of the motor stator, the wiring of the solid mechanical arm joint (solid motor with solid reducer) must be bypassed, so it is reserved The length of the motor will increase greatly and waste space. The cost of using the solid motor and the reducer is lower than that of the hollow type. At the same time, the use of this structure also achieves cost savings.

Referring to FIG. 12, the stator is partially hollow and has a motor body circuit 107 therein. The motor body circuit 107 extends to an outlet at the end of the shaft portion, the shaft portion protrudes from the main body of the external rotation motor, and the rear end of the external rotation motor is installed A motor drives related circuits (driving circuit board 45). The line 103 enters the motor module and surrounds the shaft.

Please refer to Figure 13 for the disassembly diagram of the needle housing. The purpose is to add the arm joint type 2 to the design of the reducer. Only the first-stage roller needle housing 71A needs to be disassembled into the outer rotation motor protective housing 711A and After the first-stage roller needle housing 712A, the outer-rotation motor protective shell 711A and the first-stage roller needle housing type 2 lock cover 71B are locked, 711A can become a reduction gear fixing surface, and the second-stage roller needle The housing 75A is disassembled into a reducer protective housing 751A and a second-stage roller needle housing 752A. Since the two are different individuals, removing the second-stage roller needle housing 752A does not affect its convenient wiring function. At this time, the output surface of the speed reducer can be engaged with the driving connector 105.

Combining Figures 1 to 13 above, it can be seen that the external rotation motor and the second-order cycloid reducer of the embodiment of the present invention can be combined into a sub-system. This combination is different from the traditional combination of using a servo motor and a harmonic reducer. Capable of being a mobile vehicle The wheel train actuator (Actuator) can also be an actuator (Actuator) of each joint of the robot arm, which is expected to achieve high load and low cost efficiency, which will be described in the following embodiments.

Please refer to Figure 14 for a schematic diagram of the combination of six-axis mechanical arm. In the figure, the axis of rotation of the first axis arm joint 91 is perpendicular to the axis of rotation of the second axis arm joint 92. The rotation axis of the second axis arm joint 92 is parallel to the rotation axis of the third axis arm joint 93. The rotation axis of the third axis arm joint 93 is perpendicular to the rotation axis of the fourth axis arm joint 94. The axis of rotation of the fourth axis arm joint 94 is perpendicular to the axis of rotation of the fifth link 86.

The detailed combination mode is described as follows: the robot arm base 81 and the first connector 82 are connected by the first axis arm joint 91, the fixed surface of the first axis arm joint 91 is engaged with the robot arm base 81, and the first axis arm joint 91 The output surface is engaged with the first connector 82. The first connector 82 and the second connector 83 are connected by a second axis arm joint 92, the fixed surface of the second axis arm joint 92 is engaged with the first connector 82, and the output surface of the second axis arm joint 92 is connected to the second Piece 83 is joined. The second connector 83 and the third connector 84 are connected by a third axis arm joint 93, the fixed surface of the third axis arm joint 93 is engaged with the second connector 83, and the output surface of the third axis arm joint 93 is connected to the third Piece 84 is engaged. The third connector 84 and the fourth connector 85 are connected by a fourth axis arm joint 94, the fixed surface of the fourth axis arm joint 94 is engaged with the third connector 84, and the output surface of the fourth axis arm joint 94 is connected to the fourth Piece 85 is joined. The fourth connector 85 contains a servo motor, a set of pulleys and belts, and a reducer, thereby driving the fifth connector 86, and finally the reducer on the fifth connector 86 outputs.

Please refer to FIG. 15 for a schematic diagram of the end structure of the robot arm. The fourth connecting member 85 includes a servo motor 851 of the fourth connecting member. The motor output shaft drives a set of belt sets 852 and inputs kinetic energy to the reducer of the fourth connecting member 853. The fixed surface of the speed reducer 853 of the fourth connecting piece is connected to the fourth connecting piece 85, the output surface of the speed reducer 853 of the fourth connecting piece is connected to the fifth connecting piece 86, and the terminal connecting shaft 88 is engaged with the fourth connecting piece 85. The fifth connector 86 has an end connection bearing 87 engaged with the end connection shaft 88. The fifth connecting member 86 includes a servo motor 862 of a fifth connecting member, and the motor output shaft is connected to a speed reducer 862 of the fifth connecting member to form a rotating shaft.

The mechanical arm of the present invention is mainly applied to the occasions where the carrier is moving and the arm is loaded from 20 kg to 50 kg. Therefore, it must have a high volume torque ratio, a lightweight structure, and low energy consumption. Therefore, referring to FIG. 13 and FIG. 14, corresponding embodiments are proposed for loads of 20 kg and 50 kg, respectively, to illustrate the combined times of the external rotation motor and the second-order cycloidal reducer of the present invention presented in FIGS. 1 to 13. The efficacy of the system.

Embodiment 1: For a load of 20 kg, the first to fourth shaft joints of the robot arm of the present invention use the above-mentioned out-rotating motor combined with a second-order cycloidal reducer, wherein the first shaft and the second shaft use 400W out-rotating motors , The third axis and the fourth axis use 200W external rotation motor, and the fifth axis uses a 200W servo motor and drives the sixth axis joint with a pulley and belt driven harmonic reducer. Finally, the sixth axis uses a 200W servo motor with a harmonic reducer, as shown in Figure 9 and Figure 10.

Nowadays, industrial robot arms with a load of 20 kg must have high speed efficiency and high precision. Its driving capacity is about 3000 watts to 6000 watts. The total arm weight ranges from 40 kg to hundreds of kg. The maximum arm length is about 1 meter to 1.8 meters. . Compared to industrial machinery Arm, because the mechanical arm of the embodiment of the present invention needs to be installed on a mobile device, it must have energy saving and light weight, but at the same time it also sacrifices work efficiency and structural rigidity accuracy, but it is still capable of handling and caring operations.

The driving capacity of the mechanical arm of the present invention is about 1600 watts, the total weight of the arm is about 40 to 50 kg, the maximum arm length is about 0.7 meters to 0.8 meters, and the average maximum speed of each joint of the arm is about three One in one, so as to achieve energy saving and light weight. The problem of insufficient arm length can be compensated by using a mobile device. In terms of efficiency, due to the safety and stability of the care and handling operations, the slower operation speed is a more appropriate application.

In summary, the present invention integrates the outer-rotation motor and the reducer into a motor module. The shell structure is used to cover the outer-rotation motor and connect to the reducer. The existing shaft portion of the outer-rotation motor can be used for the housing Assembly of body structure and external rotation motor. Under the configuration of the present invention, the existing shaft portion of the external rotation motor not only does not hinder the integration of the external rotation motor and the speed reducer, but also facilitates the assembly of the motor module.

Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.

1: locking nut

2: fixed piece

3: Passive end connector

5: input shaft

6: protective shell

21: flange face

41: stator

41a: Shaft

42: coil

43: Bearing

44: outer rotor

45: Drive circuit board

46: locking screw

47: Side hole

Claims (10)

A motor module includes: an external rotation motor, including a connected stator and an external rotor, wherein the external rotor is connected to the stator with a bearing, the stator has a shaft portion, and the shaft portion has a first class and A second stage, wherein the first stage is a round shaft, the second stage is a thread cut with two planes, the stator is partially hollow and has a motor body circuit therein, the motor body circuit extends to the end of the shaft portion An outlet, the shaft portion protrudes from the main body of the external rotation motor, wherein a motor drive related circuit is installed at the rear end of the external rotation motor; a cycloidal reducer connected to the external rotation motor; and a housing The body structure covers the outer rotation motor and is connected to the cycloidal reducer, wherein the shaft portion is locked to the casing structure so that the outer rotation motor is assembled with the casing structure through the shaft portion. The motor module as described in item 1 of the patent application scope, wherein the housing structure includes a fixing piece, a passive end connection piece and a motor protective shell, the fixing piece has a class hole, the class hole is a straight hole, the The thread at the end of the shaft part passes through the straight hole, the stepped hole abuts against the flange surface of the stator end, and the locking nut locks into the thread of the shaft part to lock the external rotation motor and the fixing piece , The motor protective shell is engaged with the fixing piece, and the passive end connector is engaged with the fixing piece. The motor module as described in item 1 of the patent application scope, wherein the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, and a first-stage cycloid Film, a second order cycloid, a second order roll A sub-needle shell, a reducer protective shell, a set of rollers, a protective shell cover and a driving end connector, the first-stage roller needle shell has a plurality of roller holes and is engaged with the motor protective shell, each of which Each roller hole is provided with a roller. The sleeve has two eccentric bodies, and the phase difference of the two eccentric bodies is 180 degrees. A first eccentric bearing and a second eccentric bearing are respectively installed on the two eccentric bodies. There is a support disk bearing between the two eccentric bodies, the shaft sleeve has a key slot hole, the key slot hole is engaged with an input shaft on the outer rotor, the support disk has a plurality of support disk roller holes and is connected with the support disk Bearings are engaged, the support disk rollers are engaged with the support disk roller holes, the periphery of the first-stage cycloid has a plurality of arc-shaped teeth and the first eccentric bearing on the bushing is engaged, the first The first-order cycloid is engaged with the rollers on the first-stage roller needle shell, and the periphery of the second-order cycloid has a plurality of arc-shaped teeth that are engaged with the second eccentric bearing on the sleeve, The second-stage roller needle shell has a plurality of roller holes, each roller hole is installed with a roller, a bearing is engaged with the shaft sleeve in the second-stage roller needle shell, and the second-stage cycloid plate is The rollers on the second-stage roller needle shell are engaged, one end of the reducer protective shell is engaged with the first-stage roller needle shell, and the other end of the reducer protective shell is fitted with a thin bearing and the second Step roller needle shell is engaged, the protective shell cover is mounted on the second step roller needle shell, the driving end connector is engaged with the second step roller needle shell; wherein the first step roller needle shell The number of the rollers is 1 to 2 more than the number of teeth of the first-stage cycloid plate, and the number of the rollers on the second-stage roller needle housing is 1 more than the number of teeth of the second-stage cycloid plate Up to 2. The motor module as described in item 3 of the patent application scope, wherein the two eccentric bodies and the bushings are installed with the support disk bearing independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the bushings The part where the bearing of the support disk is installed is integrated with the input shaft. A motor module includes: an external rotation motor, including a fixed stator and an outer rotor, wherein the outer rotor is connected with a stator with a bearing, wherein the stator has a shaft portion, the shaft portion is partially hollow and has A first class, a second class, and a third class, wherein the second class is located between the first class and the third class, and one of the first class and the second class is a circular axis In two planes, the other of the first and second stages is a round shaft, and the third stage is a thread cut off two planes. There is a motor body circuit in the shaft portion, and the motor body circuit extends to the shaft An outlet at the end of the part, the shaft part protrudes from the main body of the motor, wherein a motor drive related circuit is installed at the rear end of the external rotation motor; a cycloidal reducer connected to the external rotation motor; a housing Structure, covering the external rotation motor and connected to the cycloidal reducer, wherein the shaft portion is locked to the housing structure so that the external rotation motor is assembled with the housing structure by the shaft portion; and a The circuit enters the motor module and surrounds the shaft. The motor module as described in item 5 of the patent application scope, wherein the housing structure includes a fixing piece, a spacer, a passive end connector and a motor protective shell, the fixing piece has a class hole, the class hole is A straight hole, the fixing piece is installed on the first Between a class and the second class, the motor protective shell is engaged with the fixing plate, the second class has the spacer sleeve, a passive end connector has a class hole, the class hole is a straight hole, the shaft end The thread passes through the class hole, the class hole is installed between the second class and the third class, a locking nut is locked to the shaft portion to restrict the fixing piece, the spacer, and the passive end connector And the axial displacement of the motor protective shell. The motor module as described in item 6 of the patent application scope, wherein the cycloidal reducer includes a first-stage roller needle housing, a shaft sleeve, a support disk, a set of support disk rollers, and a first-stage cycloid Plate, a second-stage cycloid, a second-stage roller needle shell, a set of rollers, a reducer protective shell and a drive end connector, the first-stage roller needle shell has several roller holes , A roller is installed in each of the roller holes, the first-stage roller needle shell is engaged with the motor protection shell, and the spacing sleeve is spaced apart by a passive end connecting piece and a fixing piece so that the passive end connecting piece and the fixing piece The space between them is for the winding of the line. There are two eccentric bodies on the sleeve, and the phase difference of the two eccentric bodies is 180 degrees. A first eccentric bearing and a second eccentric bearing are respectively installed on the two eccentric bodies , There is a support disk bearing between the two eccentric bodies, the shaft sleeve has a keyed hole, the keyed hole is engaged with an input shaft on the outer rotor, the support disk has a plurality of support disk roller holes and is in contact with the The support disk bearings are engaged, a plurality of support disk rollers are engaged with the support disk roller holes, and the periphery of the first-stage cycloid has a plurality of arc-shaped teeth that are engaged with the first eccentric bearing on the sleeve, The first-stage cycloid piece is engaged with the rollers on the first-stage roller needle shell, and the periphery of the second-stage cycloid piece has a plurality of arc-shaped teeth and the second eccentric bearing on the sleeve Joining, the second-stage roller needle shell has several roller holes, each roller hole is installed with the roller, the second-stage cycloid and the second-stage roller The rollers on the sub-needle shell are engaged, the reducer protective shell is an inner class straight cylinder protective cover and has a side hole, the side hole has a joint connecting the line, and the reducer protective shell has a thin bearing It is engaged with the first-stage roller needle shell, and the driving end connector is engaged with the second-stage roller needle shell; wherein the number of the rollers on the first-stage roller needle shell is greater than that of the first-stage pendulum The number of teeth of the thread plate is 1 to 2, and the number of the rollers on the second-stage roller needle housing is 1 to 2 more than the number of teeth of the second-stage cycloid plate. The motor module as described in item 7 of the patent application scope, wherein the line enters from the side hole of the reducer protective case, and a rotating conductive slip ring is installed in the space between the passive end connector and the fixing piece. The motor module as described in item 7 of the patent application range, wherein the two eccentric bodies and the bushing are installed at the positions where the support disk bearing is installed independently of each other and are respectively mounted to the input shaft, or the two eccentric bodies and the bushing The part where the bearing of the support disk is installed is integrated with the input shaft. The motor module as described in item 5 of the patent application scope, wherein the motor modules are connected in series with each other to form a robot arm.

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