A new frameless torque motor for humanoid robots

Abstract

The present invention provides a novel frameless torque motor for a humanoid robot, comprising a support structure; a stator for generating a rotating magnetic field, wherein the number of the stators is several and evenly distributed, and the side of the stator close to the support structure is fixedly connected to the inner ring of the support structure; and a rotor for generating a rotating motion under the influence of the magnetic field generated by the stator, wherein the rotor is located at the axis of the support structure. The present invention can input current to the stator through the connector by setting a support structure, a stator, a rotor, a connecting column, a cooling structure, a heat dissipation structure and a connector, so that the stator generates a rotating magnetic field, and the rotor generates a rotating motion under the influence of the magnetic field generated by the stator. The cooling structure can cool the stator, and the heat dissipation structure can assist in heat dissipation. The heat dissipation structure can drive the liquid inside the cooling structure to move, thereby solving the problem of poor heat dissipation effect of the existing humanoid robot frameless torque motor.

Description

Technical Field

[0001] The invention relates to the technical field of torque motors, and in particular to a novel frameless torque motor for a humanoid robot. Background Art

[0002] The humanoid robot frameless torque motor is a motor designed specifically for robot joints. It has the characteristics of high precision, high response speed and large torque. This motor usually adopts a frameless design, that is, there is no traditional mechanical frame between the motor rotor and stator, thereby reducing weight and improving dynamic performance. Frameless torque motors are widely used in humanoid robots because they can provide precise control and fast response, which is crucial to achieving smooth and natural movements of robots.

[0003] Humanoid robots have been applied in many fields, and with the development of technology, their application scenarios are constantly expanding. The joint design of humanoid robots requires the use of frameless torque motors, but if the load of existing frameless torque motors exceeds their rated capacity during use, the frameless torque motors need to consume more current to overcome the load, which will cause more heat to be generated inside the motor. At the same time, if the air duct inside or outside the frameless torque motor is blocked, it will affect air circulation and reduce cooling efficiency. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a novel frameless torque motor for a humanoid robot, which can facilitate cooling of the frameless torque motor and improve the heat dissipation effect of the frameless torque motor, so as to solve the problem of poor heat dissipation effect of the existing frameless torque motor of a humanoid robot.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions: a novel frameless torque motor for a humanoid robot, comprising a support structure;

[0006] A stator, used to generate a rotating magnetic field. The number of the stators is several and evenly distributed. The side of the stator close to the support structure is fixedly connected to the inner ring of the support structure.

[0007] A rotor, used to generate a rotational motion under the influence of a magnetic field generated by a stator, the rotor being located at the axis of the support structure, and the surface of the rotor being used in cooperation with the surface of the support structure;

[0008] A connecting column, used to connect the robot joints, wherein the surface of the connecting column is fixedly connected to the inside of the rotor;

[0009] A cooling structure, used for cooling the stator, the cooling structure is located inside the supporting structure and is used in conjunction with the stator;

[0010] A heat dissipation structure, used for cooling the structure to assist ventilation, wherein the bottom of the heat dissipation structure is fixedly connected to the top of the rotor;

[0011] The connector is used for connecting the stator to power supply, and the connector is connected to the stator.

[0012] Furthermore, the cooling structure includes a first flow tube, which is U-shaped, and both ends of the surface of the first flow tube are fixedly connected with heat dissipation fins. The number of the heat dissipation fins is several and evenly distributed. The heat dissipation fins are located in the gap between the stators. A connecting structure is provided on the top of the stator, and the two ends of the connecting structure are respectively fixedly connected with the two ends of the two first flow tubes.

[0013] Furthermore, the connecting structure includes a second flow pipe, both ends of which are fixedly connected to a third flow pipe, a side of the third flow pipe away from the second flow pipe is fixedly connected to the top of the first flow pipe, and one side of the third flow pipe is fixedly connected to a pressure relief structure.

[0014] Furthermore, the pressure relief structure includes a pressure relief column, one side of which is provided with a thread, one end of which penetrates into the interior of the third circulation pipe, the pressure relief column is threadably connected to the third circulation pipe, and the inner wall of the pressure relief column is movably connected with a buffer plate.

[0015] Furthermore, a return spring is fixedly connected to one side of the buffer plate, and the other side of the return spring is fixedly connected to the inner wall of the pressure relief column.

[0016] Furthermore, the heat dissipation structure includes a connecting ring, the bottom of which is fixedly connected to the top of the rotor, and the surface of the connecting ring is fixedly connected with fan blades, the number of the fan blades is several and evenly distributed, and the fan blades are set at an inclination of thirty-five degrees.

[0017] Furthermore, a sliding structure is provided inside the second circulation tube, the surface of the sliding structure is movably connected to the inner wall of the second circulation tube, and a magnetic column is fixedly connected to the bottom of the fan blade, and the magnetic column is used in conjunction with the sliding structure.

[0018] Furthermore, the sliding structure includes an iron column, which is located inside the second flow tube, and the surface of the iron column is movably connected to the inner wall of the second flow tube. A baffle is provided on one side of the iron column, and the top of the baffle is movably connected to the top of the iron column through a rotating shaft, and the interior of the iron column is hollow.

[0019] Furthermore, a sealing plate is fixedly connected to one side of the baffle plate close to the iron column, and the sealing plate is used in conjunction with the hollow part of the iron column. The iron column and the second flow pipe are both arranged in an arc shape.

[0020] Furthermore, an insulating layer is provided on the surface of the heat dissipation fins, the insulating layer is located in the gap between the stators, and the surface of the insulating layer is fixedly connected to the surface of the stator.

[0021] Beneficial effects of the present invention:

[0022] The present invention provides a supporting structure, a stator, a rotor, a connecting column, a cooling structure, a heat dissipation structure and a connector. Current can be input into the stator through the connector to make the stator generate a rotating magnetic field. The rotor generates a rotational motion under the influence of the magnetic field generated by the stator. The cooling structure can cool the stator, the heat dissipation structure can assist in heat dissipation, and the heat dissipation structure can drive the liquid inside the cooling structure to move, thereby solving the problem of poor heat dissipation effect of the existing humanoid robot frameless torque motor.

[0023] The present invention provides a cooling structure, and the U-shaped first flow pipe can increase the flow path of the coolant, thereby extending the residence time of the coolant in the system and improving the heat exchange efficiency. The heat dissipation fins are evenly distributed on the surface of the first flow pipe, increasing the heat dissipation area, which helps to more effectively transfer heat from the stator to the coolant. In addition, the heat dissipation fins are located in the gaps between the stators, and these spaces can be fully utilized for heat dissipation without occupying additional volume. The connecting structure ensures that the coolant can be evenly distributed between the two first flow pipes, further improving the overall performance of the cooling system. This design helps to maintain a stable operating temperature of the motor, extend the service life of the motor, and improve its working efficiency.

[0024] The present invention sets a connecting structure, and the second flow tube is fixedly connected with the third flow tubes at both ends, thereby ensuring that the fluid can flow smoothly from the second flow tube to the third flow tube. The fixed connection between the third flow tube and the top of the first flow tube further ensures that the fluid can smoothly enter the first flow tube from the third flow tube, thereby realizing efficient transmission of the fluid between the various flow tubes. The pressure relief structure fixedly connected on one side of the third flow tube can provide a channel for releasing pressure when the system pressure is too high, which helps to prevent the system from being damaged due to excessive pressure and enhances the safety and reliability of the entire connecting structure. This design not only improves the efficiency of fluid transmission, but also increases the stability and safety of the system.

[0025] The present invention provides a pressure relief structure, and through the threaded connection between the pressure relief column and the third flow pipe, it can achieve fast and accurate installation and disassembly, which is convenient for maintenance and replacement. The buffer plate movably connected to the inner wall of the pressure relief column can effectively absorb and alleviate pressure fluctuations, reduce the impact of the fluid on the pipeline, thereby extending the service life of the equipment. In addition, a thread is provided on one side of the pressure relief column, so that the pressure relief structure can provide an additional sealing effect when under pressure, thereby ensuring the safety and reliability of the system.

[0026] The present invention can effectively control the movement of the buffer plate by arranging a return spring. When the buffer plate is subjected to an external force, the return spring can provide a reverse elastic force to help the buffer plate quickly return to its original position, thereby ensuring the stability and response speed of the system.

[0027] The present invention ensures the stability of the heat dissipation structure by setting up a heat dissipation structure, and the fixed connection between the connecting ring and the top of the stator, while the fan blades are evenly distributed on the surface of the connecting ring, which helps to evenly remove heat from the stator surface. The setting of the fan blades tilted at thirty-five degrees can effectively guide the air flow and increase the turbulence effect of the air flow, thereby improving the heat dissipation efficiency. This design enables the heat generated by the frameless torque motor or related equipment during operation to be quickly conducted and dissipated, keeping the equipment running at an appropriate temperature, extending the service life of the equipment and improving its performance stability.

[0028] The present invention can effectively reduce friction and improve the circulation efficiency of the fluid by providing a sliding structure and a magnetic column. The magnetic column fixedly connected to the bottom of the fan blade is used in conjunction with the sliding structure to drive the sliding structure to move when the fan blade rotates. The use of the magnetic column reduces mechanical contact, extends the service life of the equipment, improves the operating efficiency of the system, and enhances the stability and durability of the equipment.

[0029] The present invention sets a sliding structure, and the iron column slides freely inside the second circulation tube. At the same time, the movable connection between the surface of the iron column and the inner wall of the second circulation tube ensures good sealing and low friction. The baffle is movably connected to the top of the iron column through a rotating shaft, so that the baffle can rotate flexibly, so that the opening on one side of the iron column can be opened or closed when needed. The hollow design inside the iron column serves as a fluid channel, which can facilitate the flow of coolant. At the same time, the reciprocating magnetic column can enable the coolant inside the second circulation tube to move unidirectionally.

[0030] The present invention can effectively improve the sealing performance and prevent fluid leakage by arranging a sealing plate, an iron column and a second flow tube. The arc-shaped iron column and the second flow tube design are helpful to limit the iron column. At the same time, this design can also better cooperate with the magnetic column, making it convenient for the magnetic column to drive the iron column to reciprocate.

[0031] The present invention provides an insulating layer, which can effectively prevent the risk of short circuit caused by the current passing through the heat dissipation fins and contacting the stator, thereby improving safety. Secondly, the insulating layer helps to maintain the air gap between the stator and the heat dissipation fins, thereby optimizing the heat dissipation effect and improving the heat dissipation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 It is a structural schematic diagram of the present invention;

[0034] Figure 2 is a schematic diagram of the three-dimensional structure of the cooling structure;

[0035] Figure 3 It is a schematic diagram of the three-dimensional structure of the connected structure;

[0036] Figure 4 is a schematic diagram of the three-dimensional structure of the heat dissipation fin plate;

[0037] Figure 5 is a schematic diagram of the three-dimensional structure of the heat dissipation structure;

[0038] Figure 6 It is a schematic diagram of the three-dimensional structure of the second flow pipe and the sliding structure;

[0039] Figure 7 It is a schematic diagram of the three-dimensional structure of the connected structure;

[0040] Figure 8 It is a schematic diagram of a cross-sectional three-dimensional structure of a sliding structure;

[0041] Fig. 9 It is a schematic diagram of the cross-sectional three-dimensional structure of the pressure relief structure.

[0042] In the figure: 1. supporting structure; 2. stator; 3. rotor; 4. connecting column; 5. cooling structure; 51. first flow pipe; 52. heat dissipation fin plate; 53. connecting structure; 531. second flow pipe; 532. third flow pipe; 533. pressure relief structure; 5331. pressure relief column; 5332. buffer plate; 6. heat dissipation structure; 61. connecting ring; 62. fan blade; 7. connector; 8. reset spring; 9. sliding structure; 91. iron column; 92. baffle; 10. magnetic column; 11. sealing plate; 12. insulation layer. DETAILED DESCRIPTION

[0043] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0044] Example 1 Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of the present invention.

[0045] A novel frameless torque motor for a humanoid robot comprises a support structure 1;

[0046] Stator 2, used for generating a rotating magnetic field, the number of stators 2 is several and evenly distributed, and the side of stator 2 close to support structure 1 is fixedly connected to the inner ring of support structure 1;

[0047] The rotor 3 is used to generate a rotational motion under the influence of the magnetic field generated by the stator 2. The rotor 3 is located at the axis of the support structure 1, and the surface of the rotor 3 cooperates with the surface of the support structure 1;

[0048] A connecting column 4 is used to connect the robot joints, and the surface of the connecting column 4 is fixedly connected to the inside of the rotor 3;

[0049] A cooling structure 5 is used to cool the stator 2. The cooling structure 5 is located inside the supporting structure 1 and is used in conjunction with the stator 2.

[0050] The heat dissipation structure 6 is used for assisting ventilation of the cooling structure 5, and the bottom of the heat dissipation structure 6 is fixedly connected to the top of the rotor 3;

[0051] The connector 7 is used to connect the stator 2 to the power supply, and the connector 7 is connected to the stator 2.

[0052] See also Figures 2 to 9 As shown, the cooling structure 5 includes a first flow tube 51, which is U-shaped. Both ends of the surface of the first flow tube 51 are fixedly connected with heat dissipation fins 52. The number of the heat dissipation fins 52 is several and evenly distributed. The heat dissipation fins 52 are located in the gap between the stators 2. A connecting structure 53 is provided on the top of the stator 2. Both ends of the connecting structure 53 are fixedly connected with both ends of the two first flow tubes 51 respectively. The U-shaped first flow tube 51 can increase the flow path of the coolant, thereby extending the residence time of the coolant in the system and improving the heat exchange efficiency. The heat dissipation fins 52 are evenly distributed on the surface of the first flow tube 51, increasing the heat dissipation area, which helps to more effectively transfer heat from the stator 2 to the coolant. In addition, the heat dissipation fins 52 are located in the gap between the stators 2, and these spaces can be fully utilized for heat dissipation without occupying additional volume. The connecting structure 53 ensures that the coolant can be evenly distributed between the two first flow tubes 51, further improving the overall performance of the cooling system. This design helps to maintain a stable operating temperature of the motor, extend the service life of the motor, and improve its working efficiency.

[0053] The connecting structure 53 includes a second flow tube 531, both ends of the second flow tube 531 are fixedly connected with the third flow tube 532, the side of the third flow tube 532 away from the second flow tube 531 is fixedly connected with the top of the first flow tube 51, and one side of the third flow tube 532 is fixedly connected with a pressure relief structure 533. The second flow tube 531 is fixedly connected with the third flow tubes 532 at both ends, ensuring that the fluid can flow smoothly from the second flow tube 531 to the third flow tube 532. The fixed connection between the third flow tube 532 and the top of the first flow tube 51 further ensures that the fluid can smoothly enter the first flow tube 51 from the third flow tube 532, thereby realizing efficient transmission of the fluid between the various flow tubes. The pressure relief structure 533 fixedly connected on one side of the third flow tube 532 can provide a pressure release channel when the system pressure is too high, which helps to prevent the system from being damaged due to excessive pressure and enhances the safety and reliability of the entire connecting structure 53. This design not only improves the efficiency of fluid transmission, but also increases the stability and safety of the system.

[0054] The heat dissipation structure 6 includes a connecting ring 61, the bottom of which is fixedly connected to the top of the rotor 3, and the surface of the connecting ring 61 is fixedly connected with fan blades 62. The number of the fan blades 62 is several and evenly distributed, and the fan blades 62 are inclined at thirty-five degrees. The fixed connection between the connecting ring 61 and the top of the stator 2 ensures the stability of the heat dissipation structure 6. At the same time, the fan blades 62 are evenly distributed on the surface of the connecting ring 61, which helps to evenly remove heat from the surface of the stator 2. The setting of the fan blades 62 inclined at thirty-five degrees can effectively guide the air flow and increase the turbulence effect of the air flow, thereby improving the heat dissipation efficiency. This design enables the heat generated by the frameless torque motor or related equipment during operation to be quickly conducted and dissipated, keeping the equipment running at an appropriate temperature, extending the service life of the equipment and improving its performance stability.

[0055] A sliding structure 9 is provided inside the second circulation tube 531, and the surface of the sliding structure 9 is movably connected to the inner wall of the second circulation tube 531. A magnetic column 10 is fixedly connected to the bottom of the fan blade 62. The magnetic column 10 is used in conjunction with the sliding structure 9 to effectively reduce friction and improve the circulation efficiency of the fluid. The magnetic column 10 fixedly connected to the bottom of the fan blade 62 is used in conjunction with the sliding structure 9 to achieve the movement of the sliding structure 9 when the fan blade 62 rotates. The use of the magnetic column 10 reduces mechanical contact, extends the service life of the equipment, improves the operating efficiency of the system, and enhances the stability and durability of the equipment.

[0056] The connector 7 inputs current to the stator 2, causing the stator 2 to generate a rotating magnetic field. The rotor 3 is affected by the magnetic field generated by the stator 2 and generates a rotating motion. The coolant is inside the first flow tube 51, the second flow tube 531 and the third flow tube 532. The heat dissipation fins 52 are evenly distributed on the surface of the first flow tube 51, increasing the heat dissipation area, which helps to more effectively transfer heat from the stator 2 to the coolant. When the coolant expands due to heat, the coolant enters the interior of the pressure relief structure 533 through the third flow tube 532. The rotor 3 drives the connecting ring 61 to rotate, and the connecting ring 61 drives the fan blades 62 to rotate, thereby achieving the flow of air in the rotor 3 and the stator 2. When the fan blades 62 rotate, the fan blades 62 drive the magnetic column 10 to rotate, and the magnetic column 10 drives the sliding structure 9 to slide in the second flow tube 531 through attraction, so that the coolant in the second flow tube 531 moves, thereby achieving the purpose of circulation.

[0057] Example 2 Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of the present invention.

[0058] A novel frameless torque motor for a humanoid robot comprises a support structure 1;

[0059] Stator 2, used for generating a rotating magnetic field, the number of stators 2 is several and evenly distributed, and the side of stator 2 close to support structure 1 is fixedly connected to the inner ring of support structure 1;

[0060] The rotor 3 is used to generate a rotational motion under the influence of the magnetic field generated by the stator 2. The rotor 3 is located at the axis of the support structure 1, and the surface of the rotor 3 cooperates with the surface of the support structure 1;

[0061] A connecting column 4 is used to connect the robot joints, and the surface of the connecting column 4 is fixedly connected to the inside of the rotor 3;

[0062] A cooling structure 5 is used to cool the stator 2. The cooling structure 5 is located inside the supporting structure 1 and is used in conjunction with the stator 2.

[0063] The heat dissipation structure 6 is used for assisting ventilation of the cooling structure 5, and the bottom of the heat dissipation structure 6 is fixedly connected to the top of the rotor 3;

[0064] The connector 7 is used to connect the stator 2 to the power supply, and the connector 7 is connected to the stator 2.

[0065] See also Figures 2 to 9As shown, the cooling structure 5 includes a first flow tube 51, which is U-shaped. Both ends of the surface of the first flow tube 51 are fixedly connected with heat dissipation fins 52. The number of the heat dissipation fins 52 is several and evenly distributed. The heat dissipation fins 52 are located in the gap between the stators 2. A connecting structure 53 is provided on the top of the stator 2. Both ends of the connecting structure 53 are fixedly connected with both ends of the two first flow tubes 51 respectively. The U-shaped first flow tube 51 can increase the flow path of the coolant, thereby extending the residence time of the coolant in the system and improving the heat exchange efficiency. The heat dissipation fins 52 are evenly distributed on the surface of the first flow tube 51, increasing the heat dissipation area, which helps to more effectively transfer heat from the stator 2 to the coolant. In addition, the heat dissipation fins 52 are located in the gap between the stators 2, and these spaces can be fully utilized for heat dissipation without occupying additional volume. The connecting structure 53 ensures that the coolant can be evenly distributed between the two first flow tubes 51, further improving the overall performance of the cooling system. This design helps to maintain a stable operating temperature of the motor, extend the service life of the motor, and improve its working efficiency.

[0066] The connecting structure 53 includes a second flow tube 531, both ends of the second flow tube 531 are fixedly connected with the third flow tube 532, the side of the third flow tube 532 away from the second flow tube 531 is fixedly connected with the top of the first flow tube 51, and one side of the third flow tube 532 is fixedly connected with a pressure relief structure 533. The second flow tube 531 is fixedly connected with the third flow tubes 532 at both ends, ensuring that the fluid can flow smoothly from the second flow tube 531 to the third flow tube 532. The fixed connection between the third flow tube 532 and the top of the first flow tube 51 further ensures that the fluid can smoothly enter the first flow tube 51 from the third flow tube 532, thereby realizing efficient transmission of the fluid between the various flow tubes. The pressure relief structure 533 fixedly connected on one side of the third flow tube 532 can provide a pressure release channel when the system pressure is too high, which helps to prevent the system from being damaged due to excessive pressure and enhances the safety and reliability of the entire connecting structure 53. This design not only improves the efficiency of fluid transmission, but also increases the stability and safety of the system.

[0067] The pressure relief structure 533 includes a pressure relief column 5331, one side of which is provided with a thread, one end of the pressure relief column 5331 passes through the interior of the third circulation tube 532, the pressure relief column 5331 is threadedly connected to the third circulation tube 532 via a thread, and the inner wall of the pressure relief column 5331 is movably connected with a buffer plate 5332. The threaded connection between the pressure relief column 5331 and the third circulation tube 532 can achieve quick and accurate installation and disassembly, which is convenient for maintenance and replacement. The buffer plate 5332 movably connected to the inner wall of the pressure relief column 5331 can effectively absorb and alleviate pressure fluctuations, reduce the impact of the fluid on the pipeline, and thus extend the service life of the equipment. In addition, one side of the pressure relief column 5331 is threaded, so that the pressure relief structure 5333 can provide additional sealing effect when under pressure, thereby ensuring the safety and reliability of the system.

[0068] A return spring 8 is fixedly connected to one side of the buffer plate 5332, and the other side of the return spring 8 is fixedly connected to the inner wall of the pressure relief column 5331, which can effectively control the movement of the buffer plate 5332. When the buffer plate 5332 is subjected to external force, the return spring 8 can provide a reverse elastic force to help the buffer plate 5332 quickly return to its original position, thereby ensuring the stability and response speed of the system.

[0069] The heat dissipation structure 6 includes a connecting ring 61, the bottom of which is fixedly connected to the top of the rotor 3, and the surface of the connecting ring 61 is fixedly connected with fan blades 62. The number of the fan blades 62 is several and evenly distributed, and the fan blades 62 are inclined at thirty-five degrees. The fixed connection between the connecting ring 61 and the top of the stator 2 ensures the stability of the heat dissipation structure 6. At the same time, the fan blades 62 are evenly distributed on the surface of the connecting ring 61, which helps to evenly remove heat from the surface of the stator 2. The setting of the fan blades 62 inclined at thirty-five degrees can effectively guide the air flow and increase the turbulence effect of the air flow, thereby improving the heat dissipation efficiency. This design enables the heat generated by the frameless torque motor or related equipment during operation to be quickly conducted and dissipated, keeping the equipment running at an appropriate temperature, extending the service life of the equipment and improving its performance stability.

[0070] A sliding structure 9 is provided inside the second circulation tube 531, and the surface of the sliding structure 9 is movably connected to the inner wall of the second circulation tube 531. A magnetic column 10 is fixedly connected to the bottom of the fan blade 62. The magnetic column 10 is used in conjunction with the sliding structure 9 to effectively reduce friction and improve the circulation efficiency of the fluid. The magnetic column 10 fixedly connected to the bottom of the fan blade 62 is used in conjunction with the sliding structure 9 to achieve the movement of the sliding structure 9 when the fan blade 62 rotates. The use of the magnetic column 10 reduces mechanical contact, extends the service life of the equipment, improves the operating efficiency of the system, and enhances the stability and durability of the equipment.

[0071] The connector 7 inputs current to the stator 2, so that the stator 2 generates a rotating magnetic field. The rotor 3 is affected by the magnetic field generated by the stator 2 to generate a rotating motion. The coolant is inside the first flow tube 51, the second flow tube 531 and the third flow tube 532. The heat dissipation fins 52 are evenly distributed on the surface of the first flow tube 51, which increases the heat dissipation area and helps to more effectively transfer heat from the stator 2 to the coolant. When the coolant expands due to heat, the coolant enters the inside of the pressure relief column 5331 through the third flow tube 532. The expanded coolant squeezes the buffer plate 5332 to achieve the purpose of pressure relief. The buffer plate 5332 squeezes the reset spring Spring 8, the reset spring 8 contracts. When the coolant is cooled, the reset spring 8 can rebound the buffer plate 5332 to achieve the purpose of resetting. When the pressure relief column 5331 needs to be replaced, the pressure relief structure 533 can be directly unscrewed, and the rotor 3 drives the connecting ring 61 to rotate, and the connecting ring 61 drives the fan blades 62 to rotate, so as to achieve the flow of air in the rotor 3 and the stator 2. When the fan blades 62 rotate, the fan blades 62 drive the magnetic column 10 to rotate, and the magnetic column 10 drives the sliding structure 9 to slide in the second circulation tube 531 through attraction, so that the coolant in the second circulation tube 531 moves to achieve the purpose of circulation.

[0072] Example 3, please refer to Figure 1 , Figure 1 It is a structural schematic diagram of the present invention.

[0073] A novel frameless torque motor for a humanoid robot comprises a support structure 1;

[0074] Stator 2, used for generating a rotating magnetic field, the number of stators 2 is several and evenly distributed, and the side of stator 2 close to support structure 1 is fixedly connected to the inner ring of support structure 1;

[0075] The rotor 3 is used to generate a rotational motion under the influence of the magnetic field generated by the stator 2. The rotor 3 is located at the axis of the support structure 1, and the surface of the rotor 3 cooperates with the surface of the support structure 1;

[0076] A connecting column 4 is used to connect the robot joints, and the surface of the connecting column 4 is fixedly connected to the inside of the rotor 3;

[0077] A cooling structure 5 is used to cool the stator 2. The cooling structure 5 is located inside the supporting structure 1 and is used in conjunction with the stator 2.

[0078] The heat dissipation structure 6 is used for assisting ventilation of the cooling structure 5, and the bottom of the heat dissipation structure 6 is fixedly connected to the top of the rotor 3;

[0079] The connector 7 is used to connect the stator 2 to the power supply, and the connector 7 is connected to the stator 2.

[0080] See also Figures 2 to 9As shown, the cooling structure 5 includes a first flow tube 51, which is U-shaped. Both ends of the surface of the first flow tube 51 are fixedly connected with heat dissipation fins 52. The number of the heat dissipation fins 52 is several and evenly distributed. The heat dissipation fins 52 are located in the gap between the stators 2. A connecting structure 53 is provided on the top of the stator 2. Both ends of the connecting structure 53 are fixedly connected with both ends of the two first flow tubes 51 respectively. The U-shaped first flow tube 51 can increase the flow path of the coolant, thereby extending the residence time of the coolant in the system and improving the heat exchange efficiency. The heat dissipation fins 52 are evenly distributed on the surface of the first flow tube 51, increasing the heat dissipation area, which helps to more effectively transfer heat from the stator 2 to the coolant. In addition, the heat dissipation fins 52 are located in the gap between the stators 2, and these spaces can be fully utilized for heat dissipation without occupying additional volume. The connecting structure 53 ensures that the coolant can be evenly distributed between the two first flow tubes 51, further improving the overall performance of the cooling system. This design helps to maintain a stable operating temperature of the motor, extend the service life of the motor, and improve its working efficiency.

[0081] The connecting structure 53 includes a second flow tube 531, both ends of the second flow tube 531 are fixedly connected with the third flow tube 532, the side of the third flow tube 532 away from the second flow tube 531 is fixedly connected with the top of the first flow tube 51, and one side of the third flow tube 532 is fixedly connected with a pressure relief structure 533. The second flow tube 531 is fixedly connected with the third flow tubes 532 at both ends, ensuring that the fluid can flow smoothly from the second flow tube 531 to the third flow tube 532. The fixed connection between the third flow tube 532 and the top of the first flow tube 51 further ensures that the fluid can smoothly enter the first flow tube 51 from the third flow tube 532, thereby realizing efficient transmission of the fluid between the various flow tubes. The pressure relief structure 533 fixedly connected on one side of the third flow tube 532 can provide a pressure release channel when the system pressure is too high, which helps to prevent the system from being damaged due to excessive pressure and enhances the safety and reliability of the entire connecting structure 53. This design not only improves the efficiency of fluid transmission, but also increases the stability and safety of the system.

[0082] The pressure relief structure 533 includes a pressure relief column 5331, one side of which is provided with a thread, one end of the pressure relief column 5331 passes through the interior of the third circulation tube 532, the pressure relief column 5331 is threadedly connected to the third circulation tube 532 via a thread, and the inner wall of the pressure relief column 5331 is movably connected with a buffer plate 5332. The threaded connection between the pressure relief column 5331 and the third circulation tube 532 can achieve quick and accurate installation and disassembly, which is convenient for maintenance and replacement. The buffer plate 5332 movably connected to the inner wall of the pressure relief column 5331 can effectively absorb and alleviate pressure fluctuations, reduce the impact of the fluid on the pipeline, and thus extend the service life of the equipment. In addition, one side of the pressure relief column 5331 is threaded, so that the pressure relief structure 5333 can provide additional sealing effect when under pressure, thereby ensuring the safety and reliability of the system.

[0083] A return spring 8 is fixedly connected to one side of the buffer plate 5332, and the other side of the return spring 8 is fixedly connected to the inner wall of the pressure relief column 5331, which can effectively control the movement of the buffer plate 5332. When the buffer plate 5332 is subjected to external force, the return spring 8 can provide a reverse elastic force to help the buffer plate 5332 quickly return to its original position, thereby ensuring the stability and response speed of the system.

[0084] The heat dissipation structure 6 includes a connecting ring 61, the bottom of which is fixedly connected to the top of the rotor 3, and the surface of the connecting ring 61 is fixedly connected with fan blades 62. The number of the fan blades 62 is several and evenly distributed, and the fan blades 62 are inclined at thirty-five degrees. The fixed connection between the connecting ring 61 and the top of the stator 2 ensures the stability of the heat dissipation structure 6. At the same time, the fan blades 62 are evenly distributed on the surface of the connecting ring 61, which helps to evenly remove heat from the surface of the stator 2. The setting of the fan blades 62 inclined at thirty-five degrees can effectively guide the air flow and increase the turbulence effect of the air flow, thereby improving the heat dissipation efficiency. This design enables the heat generated by the frameless torque motor or related equipment during operation to be quickly conducted and dissipated, keeping the equipment running at an appropriate temperature, extending the service life of the equipment and improving its performance stability.

[0085] A sliding structure 9 is provided inside the second circulation tube 531, and the surface of the sliding structure 9 is movably connected to the inner wall of the second circulation tube 531. A magnetic column 10 is fixedly connected to the bottom of the fan blade 62. The magnetic column 10 is used in conjunction with the sliding structure 9 to effectively reduce friction and improve the circulation efficiency of the fluid. The magnetic column 10 fixedly connected to the bottom of the fan blade 62 is used in conjunction with the sliding structure 9 to achieve the movement of the sliding structure 9 when the fan blade 62 rotates. The use of the magnetic column 10 reduces mechanical contact, extends the service life of the equipment, improves the operating efficiency of the system, and enhances the stability and durability of the equipment.

[0086] The sliding structure 9 includes an iron column 91, which is located inside the second circulation tube 531. The surface of the iron column 91 is movably connected to the inner wall of the second circulation tube 531. A baffle 92 is provided on one side of the iron column 91. The top of the baffle 92 is movably connected to the top of the iron column 91 through a rotating shaft. The interior of the iron column 91 is hollow. The iron column 91 slides freely inside the second circulation tube 531. At the same time, the movably connected surface of the iron column 91 and the inner wall of the second circulation tube 531 ensures good sealing and low friction. The baffle 92 is movably connected to the top of the iron column 91 through the rotating shaft, so that the baffle 92 can rotate flexibly, so that the opening on one side of the iron column 91 can be opened or closed when needed. The hollow design inside the iron column 91 serves as a fluid channel, which can facilitate the flow of coolant. At the same time, the reciprocating magnetic column 10 can enable the coolant inside the second circulation tube 531 to move unidirectionally.

[0087] A sealing plate 11 is fixedly connected to one side of the baffle 92 close to the iron column 91. The sealing plate 11 is used in conjunction with the hollow part of the iron column 91. The iron column 91 and the second flow tube 531 are both arranged in an arc shape, which can effectively improve the sealing performance and prevent fluid leakage. The arc-shaped iron column 91 and the second flow tube 531 design are helpful to limit the iron column 91. At the same time, this design can also better cooperate with the magnetic column 10, making it convenient for the magnetic column 10 to drive the iron column 91 to reciprocate.

[0088] The surface of the heat dissipation fin 52 is covered with an insulating layer 12, which is located in the gap between the stators 2. The surface of the insulating layer 12 is fixedly connected to the surface of the stator 2. The insulating layer 12 can effectively prevent the risk of short circuit caused by the current passing through the heat dissipation fin 52 and contacting the stator 2, thereby improving safety. Secondly, the insulating layer 12 helps to maintain the air gap between the stator 2 and the heat dissipation fin 52, thereby optimizing the heat dissipation effect and improving the heat dissipation performance.

[0089] Working principle: Connector 7 inputs current to stator 2, so that stator 2 generates a rotating magnetic field. The rotor 3 is affected by the magnetic field generated by the stator 2 and generates a rotating motion. The coolant is inside the first circulation tube 51, the second circulation tube 531 and the third circulation tube 532. The heat dissipation fins 52 are evenly distributed on the surface of the first circulation tube 51, which increases the heat dissipation area and helps to more effectively transfer heat from the stator 2 to the coolant. When the coolant expands due to heat, the coolant enters the inside of the pressure relief column 5331 through the third circulation tube 532. The expanded coolant squeezes the buffer plate 5332 to achieve the purpose of pressure relief. The buffer plate 5332 squeezes the reset spring 8, and the reset spring 8 contracts. When the coolant cools down, the reset spring 8 can rebound against the buffer plate 5332 to achieve the purpose of reset. When the pressure relief column 5331 needs to be replaced, the pressure relief structure 533 can be directly unscrewed, and the rotor 3 is equipped with The dynamic connecting ring 61 rotates, and the connecting ring 61 drives the fan blade 62 to rotate, so as to achieve the flow of air in the rotor 3 and the stator 2. When the fan blade 62 rotates, the fan blade 62 drives the magnetic column 10 to rotate, and the magnetic column 10 drives the iron column 91 to slide in the second flow tube 531 through attraction. When the fan blade 62 moves clockwise, the fan blade 62 drives the magnetic column 10 to move clockwise, and the magnetic column 10 drives the iron column 91 to move clockwise. The baffle 92 and the sealing plate 11 seal the hollow part of the iron column 91. The baffle 92 and the iron column 91 push the coolant to move the coolant in the second flow tube 531. When the fan blade 62 moves counterclockwise, the fan blade 62 drives the magnetic column 10 to move counterclockwise, and the magnetic column 10 drives the iron column 91 to move counterclockwise. The coolant passes through the hollow part in the iron column 91 and the gap between the iron column 91 and the baffle 92, so as to achieve the purpose of unidirectional movement of the coolant.

[0090] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0091] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A new frameless torque motor for humanoid robots, Features: comprising a supporting structure (1); A stator (2) for generating a rotating magnetic field, wherein the number of the stators (2) is several and evenly distributed, and the side of the stator (2) close to the support structure (1) is fixedly connected to the inner ring of the support structure (1); A rotor (3) for generating a rotational motion under the influence of a magnetic field generated by the stator (2), wherein the rotor (3) is located at the axis of the support structure (1), and a surface of the rotor (3) cooperates with a surface of the support structure (1); A connecting column (4) is used to connect the robot joints, the surface of the connecting column (4) being fixedly connected to the inside of the rotor (3); A cooling structure (5) for cooling the stator (2); the cooling structure (5) is located inside the support structure (1) and is used in conjunction with the stator (2); A heat dissipation structure (6) is used for assisting ventilation of the cooling structure (5), wherein the bottom of the heat dissipation structure (6) is fixedly connected to the top of the rotor (3); A connector (7) used for connecting the stator (2) to a power supply, the connector (7) being connected to the stator (2); The cooling structure (5) comprises a first flow tube (51), the first flow tube (51) is arranged in a U-shape, both ends of the surface of the first flow tube (51) are fixedly connected with heat dissipation fins (52), the number of the heat dissipation fins (52) is several and evenly distributed, the heat dissipation fins (52) are located in the gap between the stators (2), the top of the stator (2) is provided with a connecting structure (53), and the two ends of the connecting structure (53) are respectively fixedly connected with the two ends of the two first flow tubes (51); The connecting structure (53) comprises a second flow pipe (531), both ends of the second flow pipe (531) are fixedly connected to a third flow pipe (532), a side of the third flow pipe (532) away from the second flow pipe (531) is fixedly connected to the top of the first flow pipe (51), and one side of the third flow pipe (532) is fixedly connected to a pressure relief structure (533); The heat dissipation structure (6) comprises a connecting ring (61), the bottom of the connecting ring (61) is fixedly connected to the top of the rotor (3), the surface of the connecting ring (61) is fixedly connected with fan blades (62), the number of the fan blades (62) is several and evenly distributed, and the fan blades (62) are arranged at an inclination of thirty-five degrees; A sliding structure (9) is provided inside the second circulation tube (531), the surface of the sliding structure (9) is movably connected to the inner wall of the second circulation tube (531), and a magnetic column (10) is fixedly connected to the bottom of the fan blade (62), and the magnetic column (10) is used in conjunction with the sliding structure (9); The sliding structure (9) comprises an iron column (91), the iron column (91) being located inside the second circulation tube (531), the surface of the iron column (91) being movably connected to the inner wall of the second circulation tube (531), a baffle (92) being provided on one side of the iron column (91), the top of the baffle (92) being movably connected to the top of the iron column (91) via a rotating shaft, and the interior of the iron column (91) being hollow.

2. A novel frameless torque motor for a humanoid robot according to claim 1, Features: The pressure relief structure (533) comprises a pressure relief column (5331), one side of which is provided with a thread, one end of which passes through the interior of the third circulation tube (532), the pressure relief column (5331) is threadedly connected to the third circulation tube (532) via the thread, and the inner wall of the pressure relief column (5331) is movably connected with a buffer plate (5332).

3. A novel frameless torque motor for a humanoid robot according to claim 2, Features: A return spring (8) is fixedly connected to one side of the buffer plate (5332), and the other side of the return spring (8) is fixedly connected to the inner wall of the pressure relief column (5331).

4. A novel frameless torque motor for a humanoid robot according to claim 1, Features: A sealing plate (11) is fixedly connected to one side of the baffle plate (92) close to the iron column (91); the sealing plate (11) is used in conjunction with the hollow portion of the iron column (91); and the iron column (91) and the second flow pipe (531) are both arranged in an arc shape.

5. A novel frameless torque motor for a humanoid robot according to claim 1, Features: The surface of the heat dissipation fin plate (52) is covered with an insulating layer (12), the insulating layer (12) is located in the gap between the stators (2), and the surface of the insulating layer (12) is fixedly connected to the surface of the stator (2).

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