CN220162454U - Module motor and mechanical exoskeleton - Google Patents

Abstract

The utility model relates to a motor technical field discloses a module motor and mechanical exoskeleton, including the casing and accept in inside stator, rotor, output shaft and the planet wheel mechanism of casing, the planet wheel mechanism includes sun gear, planet wheel, ring gear and wheel carrier. One of the stator and the rotor surrounds the other, the rotor is connected with a sun gear, the sun gear is meshed with the planet gears, the inner gear ring surrounds the sun gear and the planet gears and is meshed with the planet gears, the planet gears are rotationally connected with a wheel carrier, the wheel carrier is connected with an output shaft and is arranged at intervals with the rotor along the axial direction of the rotor, and the output shaft is connected with the shell through a bearing. After the output shaft is connected with a load, the axial load of the load is transmitted to the output shaft and is transmitted to the shell through the bearing, the axial load cannot be transmitted to the rotor, the fixed web plate of the rotor is not easy to bear the axial load, the strength of the shell is higher than that of the web plate, the shell is not easy to deform when bearing the axial load, and the problem that the web plate is easy to deform due to the fact that the axial load of the load is transmitted to the web plate connected with the rotor can be solved.

Description

Module motor and mechanical exoskeleton

Technical Field

The disclosure relates to the technical field of motors, and in particular relates to a modular motor and a mechanical exoskeleton.

Background

The joint module motor is mainly used for robots or exoskeletons and has the characteristics of compact structure, small size and light weight.

Typically, the articulation module motor includes a web, a stator, a rotor, an output shaft, a planetary gear train reducer. The output shaft is used for connecting the load, and the reduction gear is connected between output shaft and rotor for the transmission moment of torsion. Specifically, the output shaft is connected with a planet carrier of the speed reducer, the planet carrier is connected with the rotor through a bearing, and the rotor is fixed on the web.

However, in use, the axial load of the load is transferred to the rotor, which is fixed to the web, resulting in the web being subjected to a large axial force and being easily deformed, affecting the service life of the motor.

Disclosure of Invention

The embodiment of the disclosure aims to provide a modular motor and a mechanical exoskeleton, so as to solve the technical problem that in the prior art, axial load of a load is transmitted to a web connected with a rotor, so that the web is easy to deform.

The technical problems of the embodiments of the present disclosure are solved by adopting the following technical schemes: the utility model provides a module motor, including casing and accept in stator, rotor, output shaft and the planet wheel mechanism of casing inside, the planet wheel mechanism includes sun gear, planet wheel, ring gear and wheel carrier; one of the stator and the rotor surrounds the other, the rotor is connected with the sun gear, the sun gear is meshed with the planet gears, the annular gear surrounds the sun gear and the planet gears and is meshed with the planet gears, the planet gears are rotationally connected with the wheel carrier, the wheel carrier is connected with the output shaft and is arranged at intervals with the rotor along the axial direction of the rotor, and the output shaft is connected with the shell through a bearing.

In some embodiments, the housing comprises a motor housing, a reduction gearbox, and a reduction gearbox end cap; the speed reduction box is arranged between the motor casing and the speed reduction box end cover, the stator and the rotor are contained in the motor casing, the speed reduction box end cover is provided with a mounting opening, the output shaft is positioned in the mounting opening, the planetary gear mechanism is contained in the speed reduction box, and the output shaft is connected with the speed reduction box and/or the speed reduction box end cover through the bearing.

In some embodiments, the inner race of the bearing surrounds and connects the output shaft, and the reduction gearbox and/or the reduction gearbox end cap surrounds and connects the outer race of the bearing.

In some embodiments, the housing comprises a baffle; the baffle set up in between the motor casing with the reducing gear box, the baffle is provided with dodges the mouth, the sun gear passes dodge the mouth.

In some embodiments, the motor housing, the reduction gearbox end cap, and the stator are secured by threaded connections that are disposed along an axial direction of the rotor.

In some embodiments, the stator is provided with a notch at its periphery through which the threaded connection passes.

In some embodiments, a sealing ring is sleeved on the part of the output shaft positioned in the mounting opening.

In some embodiments, the modular motor includes a magnetic induction device, a magnetic ring, and an encoder; the encoder is arranged on one side, far away from the end cover of the reduction gearbox, of the stator, the magnetic induction device is connected with the end cover of the reduction gearbox, and the magnetic ring is connected with the output shaft.

In some embodiments, the sun gear comprises a first sun gear and a second sun gear, the planet gears comprise a first planet gear and a second planet gear, and the carrier comprises a first carrier and a second carrier; the first sun gear is connected with the rotor and meshed with the first planet gears, and the first wheel frame is arranged at intervals with the rotor along the axial direction of the rotor and is rotationally connected with the first planet gears; the second sun gear is fixedly connected with the first wheel frame and meshed with the second planet gears, and the second wheel frame is rotationally connected with the second planet gears and fixedly connected with the output shaft.

The technical problems of the embodiments of the present disclosure are solved by adopting the following technical schemes: there is provided a mechanical exoskeleton comprising a modular motor as described above.

Compared with the prior art, in the module motor and the mechanical exoskeleton provided by the embodiment of the disclosure, through setting the wheel frame along the axial direction of the rotor and the interval of the rotor, the output shaft is connected with the shell through the bearing, after the output shaft is connected with the load, the axial load of the load is transferred to the output shaft, and then is transferred to the shell through the bearing, the axial load is not basically transferred to the rotor, the web fixed by the rotor is not easy to bear the axial load, generally, the strength of the shell is higher than the strength of the web, and the shell is not easy to deform when bearing the axial load. In conclusion, the problem that the axial load of the load is transmitted to the web connected with the rotor to cause the web to be easily deformed in the prior art can be solved.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

Fig. 1 is a schematic structural diagram of a module motor according to an embodiment of the present disclosure;

FIG. 2 is a schematic exploded view of the modular motor of FIG. 1;

FIG. 3 is a cross-sectional view A-A as shown in FIG. 1;

FIG. 4 is an enlarged view of a portion of the portion at I shown in FIG. 3;

FIG. 5 is a schematic structural view of a stator of the modular motor shown in FIG. 1 with coils wound on the stator removed;

FIG. 6 is a schematic view of the stator of FIG. 5 at another angle;

FIG. 7 is a sectional view B-B as shown in FIG. 1;

fig. 8 is a C-C cross-sectional view shown in fig. 7.

Detailed Description

In order to facilitate an understanding of the present disclosure, the present disclosure is described in more detail below in conjunction with the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. The terms "upper," "lower," "left," "right," "upper," "lower," "top," and "bottom," and the like, as used in this specification, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used in the description of the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

In the current module motor, a planetary gear is connected with an output shaft and is connected with a rotor through a bearing, and the rotor is fixed on a radial plate. When the module motor works, the axial load of the load is sequentially transmitted to the radial plate through the output shaft, the wheel frame, the bearing and the rotor, and the radial plate bears larger axial load and is easy to deform.

Referring to fig. 1 to 4, one embodiment of the disclosure provides a module motor 100, which includes a housing 10, a motor structure 20 accommodated in the housing 10, a planetary gear mechanism 30 and an output shaft 40, wherein the motor structure 20 includes a stator 22 and a rotor 24, and the planetary gear mechanism 30 includes a sun gear 32, a planetary gear 34, an inner gear ring 36 and a carrier 38. One of the stator 22 and the rotor 24 surrounds the other, the rotor 24 is connected with the sun gear 32, the sun gear 32 is meshed with the planet gears 34, the annular gear 36 surrounds the sun gear 32 and the planet gears 34 and is meshed with the planet gears 34, the planet gears 34 are rotationally connected with the wheel carrier 38, the wheel carrier 38 is connected with the output shaft 40 and is arranged at intervals with the rotor 24 along the axial direction of the rotor 24, and the output shaft 40 is connected with the shell 10 through the bearing 42.

The planetary gear mechanism 30 may function to reduce speed and increase torque, and transfer torque from the rotor 24 to the output shaft 40. By arranging the wheel carrier 38 at intervals from the rotor 24 in the axial direction of the rotor 24, the output shaft 40 is connected to the housing 10 through the bearing 42, and after the output shaft 40 is connected with a load, the axial load of the load is transmitted to the output shaft 40, and then transmitted to the housing 10 through the bearing 42, the axial load is not substantially transmitted to the rotor 24, the web fixed to the rotor 24 is not easily subjected to the axial load, and generally, the strength of the housing 10 is higher than that of the web, and the housing 10 is not easily deformed when the axial load is applied. In conclusion, the problem that the axial load of the load is transmitted to the web connected with the rotor to cause the web to be easily deformed in the prior art can be solved.

In the present embodiment, the module motor 100 is an inner rotor motor in which the stator 22 surrounds the rotor 24.

It will be appreciated that in other embodiments, the modular motor 100 may also be an external rotor motor in which the rotor 24 surrounds the stator 22.

Ring gear 36 is fixed to housing 10. The planet wheels 34 are connected to the wheel carrier 38 by means of a connecting shaft. In operation, the rotor 24 rotates to drive the sun gear 32 to rotate together, the planet gears 34 drive the wheel carrier 38 to rotate when the sun gear 32 rotates, and the output shaft 40 is driven to rotate together when the wheel carrier 38 rotates. During which the planet wheels 34 spin about their own axes and revolve with the carrier 38 about the sun wheel 32.

In some embodiments, housing 10 includes a motor housing 12, a reduction case 14, and a reduction case end cap 16. The reduction gearbox 14 is arranged between the motor casing 12 and the reduction gearbox end cover 16, the stator 22 and the rotor 24 are accommodated in the motor casing 12, the reduction gearbox end cover 16 is provided with a mounting opening 160, the output shaft 40 is positioned in the mounting opening 160, the planetary gear mechanism 30 is accommodated in the reduction gearbox 14, and the output shaft 40 is connected with the reduction gearbox 14 and the reduction gearbox end cover 16 through the bearing 42. When the output shaft 40 receives the axial load of the load, the load is transmitted to the reduction gearbox 14 and the reduction gearbox end cover 16 through the bearing 42, and the reduction gearbox 14 and the reduction gearbox end cover 16 receive part of the axial load, so that the reduction gearbox is not easy to deform.

It will be appreciated that the output shaft 40 may also be connected to one of the reduction gearbox 14 and the gearbox end cover 16 via bearings 42, as desired. Thus, the output shaft 40 may be connected to the reduction gearbox 14 and/or the gearbox end cover 16 via bearings 42.

In some embodiments, the inner race of the bearing 42 surrounds and is coupled to the output shaft 40 and the reduction gearbox 14 and/or the reduction gearbox end cap 16 surrounds and is coupled to the outer race of the bearing 42.

In some embodiments, the housing 10 includes a baffle 13. The baffle 13 is arranged between the motor casing 12 and the reduction gearbox 14, the baffle 13 is provided with an avoidance port 130, and the sun gear 32 passes through the avoidance port 130. Through setting up baffle 13 between motor casing 12 and reducing gear box 14, baffle 13 can separate the inner space of motor casing 12 and the inner space of reducing gear box 14, motor structure 20 and planetary gear mechanism 30 distribute in independent inner space respectively, the lubricating oil or the lubricating grease of planetary gear mechanism 30 are difficult to get rid of motor structure 20, motor structure 20 is difficult to be infected with lubricating oil or lubricating grease, can avoid lubricating oil or lubricating grease to contact motor structure 20 for a long time, can not cause the destruction to the stator 22 insulating part of motor structure 20, and can not hinder rotor 24 rotation.

In some embodiments, motor housing 12, diaphragm 13, reduction box 14, reduction box end cap 16, and stator 22 are secured by threaded connection 18, with threaded connection 18 being disposed axially of rotor 24. By arranging the screw connection 18 in the axial direction of the rotor 22, the housing 10 receives only axial force when receiving axial load, and does not receive radial force, so that the screw connection 18 is not easily loosened. In addition, since the threaded connection 18 has a strong capability of bearing axial load and a weak capability of bearing radial load, the threaded connection 18 is arranged along the axial direction of the rotor 24, so that the threaded connection 18 can be ensured to bear the load and is not easy to deform.

The threaded connection 18 may be embodied as a bolt. Bolts sequentially penetrate through the gearbox end cover 16, the gearbox 14, the partition 13, the stator 22 and the motor casing 12.

Referring to fig. 5 and 6, in some embodiments, the outer periphery of the stator 22 is provided with a notch 220, and the threaded connection 18 passes through the notch 220. By providing the notch 220 on the stator 22, the threaded connection member 18 passes through the notch 220, and the structure for passing through the threaded connection member 18 does not need to be convexly arranged on the outer periphery of the housing 10, so that the axial locking can be realized under the condition that the outer diameter of the housing 10 is not increased, and the threaded connection member 18 is not easy to loose and is reliable in connection.

In some embodiments, the modular motor 100 includes a magnetic encoder 50, a magnetic induction device 60, and a magnetic ring 70.

The magnetic encoder 50 is disposed on a side of the stator 22 away from the reduction gearbox end cover 16, and the magnetic encoder 50 is used for controlling the rotational speed of the module motor 100. The magnetic induction device 60 is connected with the end cover 16 of the reduction gearbox, and the magnetic ring 70 is connected with the output shaft 40. The magnetic induction device 60 and the magnetic ring 70 can be matched to control the position of the output shaft 40, so as to realize the outage memory function.

The housing 10 may include a motor end cap 11. The motor end cover 11 is disposed at a side of the motor housing 12 away from the reduction gearbox 14, and the encoder 50 may be disposed between the motor end cover 11 and the motor housing 12.

Referring back to FIG. 4, in some embodiments, the portion of the output shaft 40 that is located within the mounting port 160 is sleeved with a seal ring 44. Since the rotational speed of the output shaft 40 is generally low, the sealing ring 44 is sleeved on the part of the output shaft 40 located in the mounting opening 160, so that the sealing performance between the output shaft 40 and the end cover 16 of the reduction gearbox can be ensured without increasing the axial dimension of the output shaft 40. Specifically, a seal groove 43 is provided on the outer periphery of the output shaft 40, and a seal ring 44 is accommodated in the seal groove 43. The seal groove 43 may be filled with seal oil, which may form an oil film when the output shaft 40 rotates, thereby preventing external foreign matters such as moisture, dust, etc. from entering the inside of the housing 10. The sealing ring 44 is in interference fit with the output shaft 40, so that the connection tightness degree between the sealing ring 44 and the output shaft 40 is ensured. The seal 44 may be an O-ring seal.

Referring to fig. 7 and 8, in some embodiments, the planetary gear mechanism 30 is a two-stage planetary gear mechanism, which may achieve two-stage deceleration. Specifically, sun gear 32 includes first sun gear 320 and second sun gear 322, planet gears 34 include first planet gears 340 and second planet gears 342, and carrier 38 includes first carrier 380 and second carrier 382. The first sun gear 320 is connected to the rotor 24 and engages the first planetary gear 340, and the first carrier 380 is disposed at a distance from the rotor 24 in the axial direction of the rotor 24 and is rotatably connected to the first planetary gear 340. The second sun gear 322 is fixedly connected to the first carrier 380 and engages the second planetary gear 342, and the second carrier 382 is rotatably connected to the second planetary gear 342 and is fixedly connected to the output shaft 40.

In operation, the rotor 24 rotates to drive the first sun gear 320 to rotate together, the first sun gear 320 drives the first wheel carrier 380 to rotate through the first planet gears 340 when rotating, the first wheel carrier 380 drives the second sun gear 322 to rotate together when rotating, the second sun gear 322 drives the second wheel carrier 382 to rotate through the second planet gears 342 when rotating, and the second wheel carrier 382 drives the output shaft 40 to rotate together when rotating. During this time, the first planetary gear 340 rotates around its own axis and revolves around the first sun gear 320 together with the first carrier 380, and the second planetary gear 342 rotates around its own axis and revolves around the second sun gear 322 together with the second carrier 382.

One embodiment of the present disclosure provides a mechanical exoskeleton comprising the modular motor 100 described in the previous embodiments.

Compared with the prior art, the embodiment of the disclosure provides a module motor 100 and a mechanical exoskeleton, by arranging the wheel frame 38 along the axial direction of the rotor 24 at intervals with the rotor 24, the output shaft 40 is connected with the housing 10 through the bearing 42, after the output shaft 40 is connected with a load, the axial load of the load is transferred to the output shaft 40, and then transferred to the housing 10 through the bearing 42, the axial load is not substantially transferred to the rotor 24, the web fixed by the rotor 24 is not easy to bear the axial load, generally, the strength of the housing 10 is higher than that of the web, and the housing 10 is not easy to deform when bearing the axial load. In conclusion, the problem that the axial load of the load is transmitted to the web connected with the rotor to cause the web to be easily deformed in the prior art can be solved.

Finally, it should be noted that: the above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; the technical features of the above embodiments or in different embodiments may also be combined under the idea of the present disclosure, the steps may be implemented in any order, and there are many other variations of the different aspects of the present disclosure as described above, which are not provided in details for the sake of brevity; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims (10)

1. The module motor is characterized by comprising a shell, a stator, a rotor, an output shaft and a planetary gear mechanism, wherein the stator, the rotor, the output shaft and the planetary gear mechanism are contained in the shell, and the planetary gear mechanism comprises a sun gear, a planetary gear, an inner gear ring and a wheel carrier;

one of the stator and the rotor surrounds the other, the rotor is connected with the sun gear, the sun gear is meshed with the planet gears, the annular gear surrounds the sun gear and the planet gears and is meshed with the planet gears, the planet gears are rotationally connected with the wheel carrier, the wheel carrier is connected with the output shaft and is arranged at intervals with the rotor along the axial direction of the rotor, and the output shaft is connected with the shell through a bearing.

2. The modular motor of claim 1, wherein the housing comprises a motor housing, a reduction gearbox, and a reduction gearbox end cap;

the speed reduction box is arranged between the motor casing and the speed reduction box end cover, the stator and the rotor are contained in the motor casing, the speed reduction box end cover is provided with a mounting opening, the output shaft is positioned in the mounting opening, the planetary gear mechanism is contained in the speed reduction box, and the output shaft is connected with the speed reduction box and/or the speed reduction box end cover through the bearing.

3. A modular motor as claimed in claim 2, wherein the inner race of the bearing surrounds and is connected to the output shaft, and the reduction gearbox and/or the reduction gearbox end cap surrounds and is connected to the outer race of the bearing.

4. The modular motor of claim 2, wherein the housing includes a partition;

the baffle set up in between the motor casing with the reducing gear box, the baffle is provided with dodges the mouth, the sun gear passes dodge the mouth.

5. The modular motor of claim 2, wherein the motor housing, the reduction gearbox end cap, and the stator are secured by threaded connectors disposed axially of the rotor.

6. The modular motor of claim 5, wherein the stator is provided with a notch at an outer periphery thereof, the threaded connection passing through the notch.

7. The modular motor of claim 2, wherein a portion of the output shaft within the mounting opening is sleeved with a seal ring.

8. The modular motor of claim 2, comprising a magnetic induction device, a magnetic ring, and a magnetic encoder;

the magnetic encoder is arranged on one side, far away from the end cover of the reduction gearbox, of the stator, the magnetic induction device is connected with the end cover of the reduction gearbox, and the magnetic ring is connected with the output shaft.

9. The modular motor of claim 1, wherein the sun gear comprises a first sun gear and a second sun gear, the planet gears comprise a first planet gear and a second planet gear, and the carrier comprises a first carrier and a second carrier;

the first sun gear is connected with the rotor and meshed with the first planet gears, and the first wheel frame is arranged at intervals with the rotor along the axial direction of the rotor and is rotationally connected with the first planet gears;

the second sun gear is fixedly connected with the first wheel frame and meshed with the second planet gears, and the second wheel frame is rotationally connected with the second planet gears and fixedly connected with the output shaft.

10. A mechanical exoskeleton comprising the modular motor of any one of claims 1 to 9.