High torque density axial flux brushless motor and robot joint module

Abstract

The application is suitable for the field of robot technology, and provides a high-torque-density axial flux brushless motor and a robot joint module.The high-torque-density axial flux brushless motor comprises a high-torque-density axial flux brushless motor body; a speed reducer is arranged on one side of the high-torque-density axial flux brushless motor body, and an input shaft of the speed reducer is fixedly connected with an output shaft of the high-torque-density axial flux brushless motor body through a shaft coupling; the high-torque-density axial flux brushless motor body comprises an outer shell; a cooling mechanism is arranged on the outer shell, the cooling mechanism is used for reducing the temperature of the high-torque-density axial flux brushless motor body, and the cooling mechanism is integrated with an air inlet, an air outlet, a heat conduction and heat dissipation mechanism and an auxiliary cleaning mechanism, so that efficient heat dissipation and temperature regulation of the motor body are realized, the motor operating temperature rise can be significantly reduced, and the risk of demagnetization of a permanent magnet and aging of a winding is reduced.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and particularly relates to a high torque density axial flux brushless motor and a robot joint module. Background Technology

[0002] Axial flux brushless motors have been widely used in high-precision drive fields such as robot joints, servo drives, and aerospace due to their advantages such as short axial dimension, high torque density, and high power density.

[0003] Existing Chinese patent document CN117081343B discloses a high torque density axial flux magnetic gear composite permanent magnet motor. Its technical solution includes a housing, a central component, a flux changing component, and a limiting component. The flux changing component includes a centrifugal device and a moving device. The central component is connected to the flux changing component. The rotation of the central component generates centrifugal force to control the movement of the centrifugal device, thereby driving the stator to move laterally. This causes the winding group to partially disengage from the rotor's rotation cutting range, realizing flux adjustment and torque change. This improves the motor's applicability and allows for automatic torque output matching based on the rotational speed.

[0004] However, the aforementioned axial flux brushless motors still have significant drawbacks in practical applications: the windings and stator cores generate severe heat during continuous operation under high loads, and the heat accumulation can easily lead to demagnetization of permanent magnets and aging of winding insulation, reducing the reliability and service life of the motor; at the same time, the heat dissipation path is long and the thermal resistance is high, and conventional heat dissipation methods are difficult to meet the heat dissipation requirements of the robot joint in confined spaces, high dynamics, and high stall conditions, and the excessive temperature rise limits the motor's continuous output capability, which urgently needs to be improved. Summary of the Invention

[0005] This invention provides a high torque density axial flux brushless motor and a robot joint module, aiming to solve the technical problem of low heat dissipation efficiency mentioned in the background art.

[0006] This invention is implemented as follows: a high torque density axial flux brushless motor includes: a high torque density axial flux brushless motor body; a reducer disposed on one side of the high torque density axial flux brushless motor body, the input shaft of the reducer being fixedly connected to the output shaft of the high torque density axial flux brushless motor body via a coupling; the high torque density axial flux brushless motor body includes a housing; a cooling mechanism disposed on the housing, the cooling mechanism being used to reduce the temperature of the high torque density axial flux brushless motor body, and the cooling mechanism integrating an air intake, exhaust, heat conduction and heat dissipation, and auxiliary cleaning mechanism, including a cover structure that cooperates with the housing, an air passage structure for airflow, a power mechanism for driving airflow circulation, and a heat conduction and cooling component for enhancing heat dissipation effect.

[0007] Preferably, the cooling mechanism includes: a front cover and a rear cover fixed to the front and rear ends of the outer casing by screws; a mounting shell fixed to the rear cover, wherein the mounting shell is provided with a first mounting chamber, a second mounting chamber and a third mounting chamber; a first air inlet and a first air outlet respectively opened on the front cover and the rear cover, the first air outlet communicating with the first mounting chamber; a first passage opened between the first mounting chamber and the third mounting chamber; a second passage opened between the second mounting chamber and the third mounting chamber; and an exhaust port opened on one side of the third mounting chamber.

[0008] Preferably, the cooling mechanism further includes an exhaust mechanism for exhausting air. The exhaust mechanism includes: a first rotating shaft rotatably mounted in the first mounting chamber via a sealed bearing; a first fan blade fixed on the first rotating shaft; and a first bevel gear and a second bevel gear respectively fixed to the shaft of the high torque density axial flux brushless motor body and the first rotating shaft, wherein the first bevel gear meshes with the second bevel gear.

[0009] Preferably, the cooling mechanism further includes: an air guide cavity formed within the outer casing; a second rotating shaft rotatably mounted in the second mounting chamber via a sealed bearing; a second fan blade fixed on the second rotating shaft; an air guide pipe fixed on the mounting casing, the air guide pipe communicating with the second mounting chamber; a connecting pipe fixedly connected to the air guide pipe, the outlet end of the connecting pipe communicating with the air guide cavity; and a third bevel gear fixed on the second rotating shaft, the third bevel gear meshing with the first bevel gear.

[0010] Preferably, the cooling mechanism further includes: a finned plate disposed in the third mounting chamber; a thermally conductive silicone pad disposed on the finned plate; a semiconductor refrigeration module fixed on the finned plate, the heating surface of the semiconductor refrigeration module being in contact with the thermally conductive silicone pad; a second air inlet opened on the mounting shell, the second air inlet communicating with the third mounting chamber; a thermostat disposed on the outer wall of the mounting shell, the thermostat being adapted to the semiconductor refrigeration module; and multiple partitions fixed inside the air guide cavity for separating air passages.

[0011] Preferably, a conduit is fixedly installed on the mounting shell, the air inlet end of the conduit is connected to the air guide cavity, and the air outlet end of the conduit is connected to the third mounting chamber.

[0012] Preferably, a first filter plate is fixed to the front cover by screws to cover the first air inlet, and an assembly is fixed to the shaft of the high torque density axial flux brushless motor body. The assembly is provided with a detachable first brush plate for cleaning the first filter plate.

[0013] Preferably, a second filter plate is fixed to the mounting housing by bolts to cover the second air inlet, and an air valve is provided on the air guide pipe.

[0014] Preferably, a third rotating shaft is rotatably mounted in the second mounting chamber via a sealed bearing. A mounting base is fixed on the third rotating shaft, and a detachable second brush plate is provided on the mounting base for cleaning the second filter plate. A fourth bevel gear is fixed on the second rotating shaft and the third rotating shaft respectively, and the two fourth bevel gears mesh with each other.

[0015] The present invention also proposes a robot joint module, comprising: a high torque density axial flux brushless motor, wherein the main body of the high torque density axial flux brushless motor is adapted to the transmission mechanism of the main body of the robot joint module, and the reducer on the main body of the high torque density axial flux brushless motor is fixedly connected to the transmission shaft of the drive box of the main body of the robot joint module via a coupling.

[0016] Compared with related technologies, the high torque density axial flux brushless motor and robot joint module provided by the present invention have the following beneficial effects:

[0017] By designing a cooling mechanism, efficient heat dissipation and temperature control of the motor body can be achieved, which can significantly reduce the temperature rise of the motor during operation and reduce the risk of permanent magnet demagnetization and winding aging. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of a high torque density axial flux brushless motor provided by the present invention; Figure 2 This is an exploded structural diagram of a high torque density axial flux brushless motor provided by the present invention. Figure 3 This is a structural schematic diagram of a high torque density axial flux brushless motor and robot joint module provided by the present invention; Figure 4 This is a schematic diagram of the main cross-sectional structure of a high torque density axial flux brushless motor and robot joint module provided by the present invention. Figure 5 for Figure 4 An enlarged structural diagram of part A shown in the figure; Figure 6 for Figure 4 An enlarged structural diagram of part B shown in the figure; Figure 7 for Figure 4 An enlarged structural diagram of section C shown in the figure; Figure 8 for Figure 7 An enlarged structural diagram of part D shown in the figure; Figure 9 This is a schematic diagram of the assembly structure of a high torque density axial flux brushless motor and robot joint module provided by the present invention.

[0027] Reference numerals: 1. Robot joint module body; 2. High torque density axial flux brushless motor body; 3. Outer shell; 4. Front cover; 5. Rear cover; 6. First air inlet; 7. Mounting shell; 8. First mounting chamber; 9. First air outlet; 10. Second mounting chamber; 11. Third mounting chamber; 12. Second through-hole; 13. First rotating shaft; 14. First fan blade; 15. First bevel gear; 16. Second bevel gear; 17. Air guide chamber; 18. Second rotating shaft; 19. Second... 20. Fan blade; 21. Air guide pipe; 22. Air valve; 23. Connecting pipe; 24. Third bevel gear; 25. Fin plate; 26. Thermal conductive silicone pad; 27. Semiconductor refrigeration module; 28. Second air inlet; 29. ​​Second outlet; 30. Exhaust port; 31. Conduit; 32. First filter plate; 33. Assembly set; 34. First brush plate; 35. Third rotating shaft; 36. Second filter plate; 37. Assembly base; 38. Second brush plate; 39. Fourth bevel gear; 30. Reducer. Detailed Implementation

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] This invention provides a high torque density axial flux brushless motor, such as... Figures 1-9 As shown, the high torque density axial flux brushless motor includes: a robot joint module body 1 and a high torque density axial flux brushless motor body 2; the high torque density axial flux brushless motor body 2 includes a housing 3; a cooling mechanism disposed on the housing 3 is used to reduce the temperature of the high torque density axial flux brushless motor body 2, and the cooling mechanism integrates an air intake, exhaust, heat conduction and heat dissipation and auxiliary cleaning mechanism, including a cover structure that cooperates with the housing 3, an air passage structure for airflow, a power mechanism for driving airflow circulation, and a heat conduction and cooling component for enhancing heat dissipation effect.

[0030] In this embodiment, the high torque density axial flux brushless motor body 2 is assembled and adapted with the robot joint module body 1. Utilizing the high torque density of the axial flux motor, the output torque density of the joint module is further improved in conjunction with the reducer. The operation of the high torque density axial flux brushless motor body 2 drives the robot joint module body 1 to move. At the same time, the cooling mechanism starts synchronously with the motor body 2 to dissipate heat from the high torque density axial flux brushless motor body 2. The outer shell 3 provides installation and protection for the external rotor, permanent magnet 1, magnetic adjustment ring, and other internal components of the high torque density axial flux brushless motor body 2. The cover structure of the cooling mechanism cooperates with the outer shell 3 to provide an installation base for various mechanisms such as air intake and exhaust.

[0031] During the heat dissipation process, the heat generated by the high torque density axial flux brushless motor body 2 is transferred to the outer shell 3. The cooling mechanism drives airflow circulation through its air passage structure and power mechanism to continuously remove the heat from the outer shell 3 and the inside of the motor body 2, reducing the accumulation of heat inside the motor. The heat conduction and cooling components of the cooling mechanism enhance the heat dissipation effect, and together with the outer shell 3, shorten the heat dissipation path and reduce the heat dissipation thermal resistance, improving the situation where the temperature rise of the motor body 2 exceeds the standard, ensuring the stable operation of the high torque density axial flux brushless motor body 2, and thus driving the robot joint module body 1 to operate smoothly.

[0032] In this structure, the high torque density of the axial flux brushless motor body 2, combined with the reducer, effectively improves the output torque density of the robot joint module body 1. The cooling mechanism integrates air intake, exhaust, heat conduction and heat dissipation, and auxiliary cleaning mechanism to reduce the risk of permanent magnet demagnetization and winding insulation aging, thereby improving the reliability and service life of the motor body 2. At the same time, it enhances the continuous output capability of the motor body 2, enabling it to adapt to the working conditions of robot joints in confined spaces, high dynamics, and high stall, further ensuring the stable operation of the robot joint module body 1.

[0033] In a further preferred embodiment of the present invention, the cooling mechanism includes: a front cover 4 and a rear cover 5 fixed to the front and rear ends of the outer casing 3 by screws; a mounting shell 7 fixed to the rear cover 5, wherein the mounting shell 7 is provided with a first mounting chamber 8, a second mounting chamber 10 and a third mounting chamber 11; a first air inlet 6 and a first air outlet 9 respectively opened on the front cover 4 and the rear cover 5, the first air outlet 9 communicating with the first mounting chamber 8; a first passage 12 opened between the first mounting chamber 8 and the third mounting chamber 11; a second passage 28 opened between the second mounting chamber 10 and the third mounting chamber 11; and an exhaust port 29 opened on one side of the third mounting chamber 11.

[0034] In this embodiment, the front cover 4 and the rear cover 5 are fixed to the front and rear ends of the outer shell 3 by screws. The rear cover 5 is fixedly mounted on the shell 7. The shell 7 forms a first mounting chamber 8, a second mounting chamber 10 and a third mounting chamber 11. The front cover 4 and the rear cover 5 are respectively provided with a first air inlet 6 and a first air outlet 9. The first air outlet 9 is connected to the first mounting chamber 8. A first passage 12 is opened between the first mounting chamber 8 and the third mounting chamber 11. A second passage 28 is opened between the second mounting chamber 10 and the third mounting chamber 11. An exhaust port 29 is opened on one side of the third mounting chamber 11. The airflow can circulate along the preset channel.

[0035] External airflow can enter the interior of the outer casing 3 through the first air inlet 6, absorb the heat generated by the operation of the motor body 2, enter the first mounting chamber 8 through the first air outlet 9, flow into the third mounting chamber 11 through the first opening 12, and finally be discharged through the exhaust port 29, thereby achieving continuous heat dissipation for the motor body 2.

[0036] The front cover 4, rear cover 5 and mounting shell 7 work together to provide a stable installation space for the cooling mechanism. The multiple sets of mounting chambers and openings can regulate the airflow, shorten the heat dissipation path, reduce the heat dissipation thermal resistance, and enable the heat inside the motor body 2 to be quickly discharged, improve the temperature rise, and enhance the operational stability of the robot joint module body 1.

[0037] In a further preferred embodiment of the present invention, the cooling mechanism further includes an exhaust mechanism for exhausting air. The exhaust mechanism includes: a first rotating shaft 13 rotatably mounted in the first mounting chamber 8 via a sealed bearing; a first fan blade 14 fixed on the first rotating shaft 13; and a first bevel gear 15 and a second bevel gear 16 respectively fixed to the shaft of the high torque density axial flux brushless motor body 2 and the first rotating shaft 13, wherein the first bevel gear 15 and the second bevel gear 16 mesh with each other.

[0038] In this embodiment, the cooling mechanism also includes an exhaust mechanism, which is used to guide airflow out. The first rotating shaft 13 is rotatably installed in the first mounting chamber 8 through a sealed bearing. The first fan blade 14 is fixed on the first rotating shaft 13. The first bevel gear 15 and the second bevel gear 16 are respectively fixed on the shaft of the high torque density axial flux brushless motor body 2 and the first rotating shaft 13. The first bevel gear 15 and the second bevel gear 16 mesh with each other.

[0039] When the high torque density axial flux brushless motor body 2 is running, it drives the shaft and the first bevel gear 15 to rotate. The first bevel gear 15 drives the second bevel gear 16 to rotate synchronously with the first rotating shaft 13. The first rotating shaft 13 drives the first fan blade 14 to rotate, so that the airflow forms a directional flow inside the housing.

[0040] The continuous rotation of the first fan blade 14 can increase the airflow speed, accelerate the heat dissipation efficiency of the motor body 2, and, together with the sealed bearing mounting structure, ensure the stable operation of the first rotating shaft 13, reduce heat dissipation thermal resistance, improve the temperature rise of the motor body 2, and enhance the stability and reliability of motor operation.

[0041] In a further preferred embodiment of the present invention, the cooling mechanism further includes: an air guide cavity 17 formed within the outer casing 3; a second rotating shaft 18 rotatably mounted within the second mounting chamber 10 via a sealed bearing; a second fan blade 19 fixed on the second rotating shaft 18; an air guide pipe 20 fixed on the mounting casing 7, the air guide pipe 20 communicating with the second mounting chamber 10; a connecting pipe 22 fixedly connected to the air guide pipe 20, the air outlet end of the connecting pipe 22 communicating with the air guide cavity 17; and a third bevel gear 23 fixed on the second rotating shaft 18, the third bevel gear 23 meshing with the first bevel gear 15.

[0042] In this embodiment, when the high torque density axial flux brushless motor body 2 is running, it drives the first bevel gear 15 to rotate. The first bevel gear 15 drives the third bevel gear 23 and the second rotating shaft 18 to rotate. The second rotating shaft 18 drives the second fan blade 19 to rotate, so that the airflow passes through the air guide pipe 20 and the connecting pipe 22 in sequence and enters the air guide cavity 17 to perform directional heat dissipation on the inside of the outer shell 3.

[0043] The second fan blade 19 works in conjunction with the air guide cavity 17 to expand the heat dissipation coverage, improve the airflow circulation efficiency inside the outer shell 3, accelerate heat conduction and discharge, reduce the possibility of excessive temperature rise in the motor body 2, and make the robot joint module body 1 run more smoothly.

[0044] In a further preferred embodiment of the present invention, the cooling mechanism further includes: a finned plate 24 disposed in the third mounting chamber 11; a thermally conductive silicone pad 25 disposed on the finned plate 24; a semiconductor cooling module 26 fixed on the finned plate 24, the heating surface of the semiconductor cooling module 26 being in contact with the thermally conductive silicone pad 25; a second air inlet 27 opened on the mounting shell 7, the second air inlet 27 being in communication with the third mounting chamber 11; a thermostat disposed on the outer wall of the mounting shell 7, the thermostat being adapted to the semiconductor cooling module 26; and multiple partitions fixed in the air guide cavity 17 for separating air passages.

[0045] In this embodiment, the fin plate 24 is disposed in the third mounting chamber 11 and is used to separate the third mounting chamber 11, and the chambers formed by the separation are sealed and isolated from each other;

[0046] External airflow can enter the third mounting chamber 11 through the second air inlet 27. The heat generated by the semiconductor cooling module 26 during operation is transferred to the fin plate 24 through the thermally conductive silicone pad 25. When the airflow flows through the fin plate 24, it carries away the heat, providing auxiliary heat dissipation for the semiconductor cooling module 26 and maintaining the working efficiency of the semiconductor cooling module 26.

[0047] The fin plate 24 seals and separates the third mounting chamber 11, which can reduce airflow interference between different chambers. The thermally conductive silicone pad 25 improves heat transfer efficiency. Together with the semiconductor cooling module 26, it can enhance the overall cooling effect, reduce the working temperature of the motor body 2, and make the robot joint module body 1 run more stably.

[0048] The temperature controller adjusts the working state of the semiconductor cooling module 26 according to the temperature state of the motor body 2, and the partition separates the air passage inside the air guide cavity 17 so that the airflow flows stably along the preset path.

[0049] The thermostat can adapt to the heat dissipation requirements under different operating conditions, improving the flexibility of cooling control, while the baffle can optimize airflow distribution and improve heat dissipation uniformity.

[0050] In a further preferred embodiment of the present invention, a conduit 30 is fixedly installed on the mounting shell 7, the air inlet end of the conduit 30 is connected to the air guide cavity 17, and the air outlet end of the conduit 30 is connected to the third mounting chamber 11.

[0051] In this embodiment, a conduit 30 is fixedly installed on the mounting shell 7. The air inlet end of the conduit 30 is connected to the air guide cavity 17, and the air outlet end of the conduit 30 is connected to the third mounting chamber 11, forming a through airflow transmission channel. The incoming airflow can dissipate heat from the fin plate 24.

[0052] The airflow in the air guide chamber 17 is transported through the duct 30 and finally flows into the third installation chamber 11. The airflow flows directly over the surface of the fin plate 24 and carries away the heat accumulated on the fin plate 24.

[0053] The conduit 30 enables airflow communication between the air guide chamber 17 and the third mounting chamber 11, improving the utilization rate of the heat dissipation airflow, thereby increasing the heat dissipation efficiency of the fin plate 24, improving the cooling effect of the motor body 2, and enhancing the operational stability of the robot joint module body 1.

[0054] In a further preferred embodiment of the present invention, a first filter plate 31 is fixed to the front cover 4 by screws to cover the first air inlet 6. A mounting bracket 32 ​​is fixed on the shaft of the high torque density axial flux brushless motor body 2. A detachable first brush plate 33 is provided on the mounting bracket 32 ​​for cleaning the first filter plate 31.

[0055] In this embodiment, the first filter plate 31 is fixed to the front cover 4 by screws. The first filter plate 31 is used to cover the first air inlet 6. The mounting bracket 32 ​​is fixed on the shaft of the high torque density axial flux brushless motor body 2. The mounting bracket 32 ​​is provided with a detachable first brush plate 33. The first brush plate 33 is used to clean the first filter plate 31.

[0056] When the high torque density axial flux brushless motor body 2 is running, it drives the shaft and the mounting bracket 32 ​​to rotate. The mounting bracket 32 ​​drives the first brush plate 33 to rotate. The first brush plate 33 contacts the surface of the first filter plate 31 and performs cleaning operation on the first filter plate 31.

[0057] The first filter plate 31 can reduce the entry of external impurities into the housing 3, and the first brush plate 33 can clean the deposits on the surface of the first filter plate 31, maintain the airflow efficiency of the first air inlet 6, ensure the long-term stable operation of the cooling mechanism, and improve the working reliability of the motor body 2.

[0058] In a further preferred embodiment of the present invention, a second filter plate 35 is fixed to the mounting shell 7 by bolts to cover the second air inlet 27, and an air valve 21 is provided on the air guide pipe 20.

[0059] In this embodiment, the second filter plate 35 is fixed to the mounting shell 7 by bolts. The second filter plate 35 is used to cover the second air inlet 27. An air valve 21 is provided on the air guide pipe 20. The air valve 21 is used to regulate the airflow state in the air guide pipe 20.

[0060] When external airflow enters through the second air inlet 27, it is filtered by the second filter plate 35. The air valve 21 can adjust the airflow in the air duct 20 according to the heat dissipation requirements, so that the airflow entering the second installation chamber 10 remains stable.

[0061] The second filter plate 35 can reduce the entry of dust and impurities into the mounting housing 7, and the air valve 21 can improve the flexibility of airflow control.

[0062] In a further preferred embodiment of the present invention, a third rotating shaft 34 is rotatably mounted in the second mounting chamber 10 via a sealed bearing. A mounting base 36 is fixed on the third rotating shaft 34. A detachable second brush plate 37 is provided on the mounting base 36 for cleaning the second filter plate 35. A fourth bevel gear 38 is fixed on the second rotating shaft 18 and the third rotating shaft 34 respectively, and the two fourth bevel gears 38 mesh with each other.

[0063] In this embodiment, when the second rotating shaft 18 rotates, it drives the corresponding fourth bevel gear 38 to rotate. The fourth bevel gear 38 drives another fourth bevel gear 38 to rotate synchronously with the third rotating shaft 34. The third rotating shaft 34 drives the mounting base 36 and the second brush plate 37 to rotate, so that the second brush plate 37 performs cleaning operation on the second filter plate 35.

[0064] The second brush plate 37 can clean impurities on the surface of the second filter plate 35 and keep the second air inlet 27 unobstructed.

[0065] The present invention also proposes a robot joint module, comprising: a high torque density axial flux brushless motor, wherein the high torque density axial flux brushless motor body 2 is adapted to the transmission mechanism of the robot joint module body 1, and the reducer 39 on the high torque density axial flux brushless motor body 2 is fixedly connected to the transmission shaft of the drive box of the robot joint module body 1 through a coupling.

[0066] In a further preferred embodiment of the present invention, the high torque density axial flux brushless motor body 2 is assembled on the transmission box of the robot joint module body 1, so that the high torque density axial flux brushless motor body 2 is adapted to the transmission mechanism of the robot joint module body 1. At the same time, the reducer 39 on the high torque density axial flux brushless motor body 2 is fixedly connected to the transmission shaft of the drive box of the robot joint module body 1 through a coupling. The operation of the high torque density axial flux brushless motor body 2 drives the reducer 39 to operate, and transmits power to the drive shaft of the drive box of the robot joint module body 1 through the coupling, thereby driving the robot joint module body 1 to operate. At the same time, the shaft of the high torque density axial flux brushless motor body 2 drives the first bevel gear 15 to rotate. The first bevel gear 15 drives the second bevel gear 16 and the third bevel gear 23 to rotate, thereby driving the first rotating shaft 13 and the second rotating shaft 18 to rotate, so that the first fan blade 14 and the second fan blade 19 rotate synchronously, and start the cooling mechanism to perform heat dissipation.

[0067] During the cooling process, external airflow enters the interior of the outer casing 3 through the first air inlet 6, absorbs the heat generated by the operation of the high torque density axial flux brushless motor body 2, and then enters the first mounting chamber 8 through the first air outlet 9, and then flows into the third mounting chamber 11 through the first port 12. At the same time, the second fan blade 19 drives the airflow through the air guide pipe 20 and the connecting pipe 22 into the air guide cavity 17 to dissipate heat from the interior of the outer casing 3. The airflow in the air guide cavity 17 then flows into the third mounting chamber 11 through the conduit 30. When the airflow flows through the fin plate 24, it carries away the heat and is finally discharged through the exhaust port 29. The temperature controller adjusts the working state of the semiconductor cooling module 26 according to the temperature of the high torque density axial flux brushless motor body 2 to enhance the cooling effect and ensure stable operation of the equipment.

[0068] In this structure, the outer shell 3 provides installation and protection for the internal components of the high torque density axial flux brushless motor body 2. The reducer 39 further improves the output torque density of the joint module and enhances the power output stability of the robot joint module body 1. The cooling mechanism, in conjunction with the outer shell 3, shortens the heat dissipation path and reduces the thermal resistance, thereby reducing the accumulation of heat inside the motor, reducing the risk of permanent magnet demagnetization and winding insulation aging, and improving the reliability and service life of the high torque density axial flux brushless motor body 2. The first filter plate 31 and the second filter plate 35 reduce the entry of external impurities into the equipment. The first brush plate 33 and the second brush plate 37 clean the corresponding filter plates respectively, maintain airflow efficiency, and ensure the stable operation of the cooling mechanism. This makes the robot joint module body 1 operate more stably and adapts to the working conditions of robot joints in confined spaces, high dynamics, and high stall.

[0069] In summary, compared with related technologies, the robot joint module body 1, the high torque density axial flux brushless motor body 2, the outer shell 3, the cooling mechanism, the exhaust mechanism, the dust cleaning mechanism and the temperature control mechanism work together to achieve efficient heat dissipation and temperature regulation of the motor body 2, which can significantly reduce the temperature rise of the motor and reduce the risk of permanent magnet demagnetization and winding aging.

[0070] It is worth noting that the circuits, electronic components, and modules involved in this invention are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve improvements to the software and methods.

[0071] It should be understood, in the several embodiments provided in this application, that the disclosed apparatus may be implemented in other ways.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not depart from the concept of the present invention. These technical solutions are also within the scope of protection of the present invention.

Claims

1. A high torque density axial flux brushless motor, characterized in that, include: High torque density axial flux brushless motor body; A reducer is installed on one side of the high torque density axial flux brushless motor body, and the input shaft of the reducer is fixedly connected to the output shaft of the high torque density axial flux brushless motor body through a coupling. The high torque density axial flux brushless motor body includes a housing; The cooling mechanism is installed on the housing. The cooling mechanism is used to reduce the temperature of the main body of the high torque density axial flux brushless motor. The cooling mechanism integrates an air intake, exhaust, heat conduction and heat dissipation and auxiliary cleaning mechanism, including a cover structure that cooperates with the housing, an air passage structure for airflow, a power mechanism to drive airflow circulation, and a heat conduction and cooling component for enhancing heat dissipation.

2. The high torque density axial flux brushless motor as described in claim 1, characterized in that, The cooling mechanism includes: The front and rear covers are fixed to the front and rear ends of the housing by screws. A mounting housing fixed to the rear cover, wherein the mounting housing contains a first mounting chamber, a second mounting chamber, and a third mounting chamber; A first air inlet and a first air outlet are respectively opened on the front cover and the rear cover, and the first air outlet is connected to the first mounting chamber; A first opening is provided between the first installation chamber and the third installation chamber; A second opening is provided between the second installation chamber and the third installation chamber; An exhaust vent is provided on one side of the third installation chamber.

3. The high torque density axial flux brushless motor as described in claim 2, characterized in that, The cooling mechanism further includes an exhaust mechanism for exhausting air, the exhaust mechanism comprising: The first rotating shaft, installed in the first mounting chamber, is rotated via a sealed bearing. The first fan blade is fixed on the first rotating shaft; The shafts of the high torque density axial flux brushless motor body and the first bevel gear and the second bevel gear are respectively fixed on the first rotating shaft, and the first bevel gear meshes with the second bevel gear.

4. The high torque density axial flux brushless motor as described in claim 3, characterized in that, The cooling mechanism also includes: An air guide cavity is formed within the outer casing; The second rotating shaft, mounted in the second mounting chamber, is rotated via a sealed bearing. The second fan blade is fixed on the second rotating shaft; An air guide pipe is fixed on the mounting housing, and the air guide pipe is connected to the second mounting chamber; A connecting pipe is fixedly connected to the air guide pipe, and the air outlet end of the connecting pipe is connected to the air guide cavity; A third bevel gear is fixed on the second rotating shaft, and the third bevel gear meshes with the first bevel gear.

5. The high torque density axial flux brushless motor as described in claim 4, characterized in that, The cooling mechanism also includes: A finned plate disposed within the third mounting chamber is used to separate the third mounting chamber; Thermally conductive silicone pads are disposed on the fin plate; A semiconductor cooling module is fixed on the fin plate, and the heating surface of the semiconductor cooling module is in contact with the thermally conductive silicone pad; A second air inlet is provided on the mounting housing, and the second air inlet communicates with the third mounting chamber; A temperature controller is provided on the outer wall of the mounting housing. The temperature controller is compatible with the semiconductor refrigeration module. Multiple partitions are fixed inside the air guide cavity to separate the air passages.

6. The high torque density axial flux brushless motor as described in claim 5, characterized in that, A conduit is fixedly installed on the mounting shell. The air inlet end of the conduit is connected to the air guide cavity, and the air outlet end of the conduit is connected to the third mounting chamber.

7. The high torque density axial flux brushless motor as described in claim 2, characterized in that, A first filter plate is fixed to the front cover by screws to cover the first air inlet. A mounting device is fixed on the shaft of the high torque density axial flux brushless motor body. The mounting device is equipped with a detachable first brush plate for cleaning the first filter plate.

8. The high torque density axial flux brushless motor as described in claim 5, characterized in that, A second filter plate is fixed to the mounting housing by bolts to cover the second air inlet, and an air valve is provided on the air guide pipe.

9. The high torque density axial flux brushless motor as described in claim 8, characterized in that, A third rotating shaft is rotatably mounted in the second installation chamber via a sealed bearing. A mounting base is fixed on the third rotating shaft, and a detachable second brush plate is provided on the mounting base for cleaning the second filter plate. A fourth bevel gear is fixed on the second rotating shaft and the third rotating shaft respectively, and the two fourth bevel gears mesh with each other.

10. A robot joint module, characterized in that, include: The robot joint module body, and the high torque density axial flux brushless motor as described in any one of claims 1-9 mounted on the robot joint module body, wherein the high torque density axial flux brushless motor body is adapted to the transmission mechanism of the robot joint module body, and the reducer on the high torque density axial flux brushless motor body is fixedly connected to the transmission shaft of the drive box of the robot joint module body through a coupling.

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