Motor heat dissipation structure and work robot

Abstract

The application provides a motor heat dissipation structure and a working robot, which comprises a base, a first motor and a heat dissipation assembly, the base has a closed cavity configured to accommodate the base and the first motor, the heat dissipation assembly comprises a circulating cooling part and a power driving part, the circulating cooling part comprises a circulating cooling pipe and a liquid storage tank, the liquid storage tank stores cooling liquid, the circulating cooling pipe is connected to the liquid storage tank and forms a circulating flow path with the liquid storage tank, the circulating cooling pipe has an accommodation area formed along the circulating path of the circulating cooling pipe, the accommodation area at least wraps part of the first motor, and the power driving part is arranged on the circulating flow path and is configured to drive the cooling liquid in the circulating flow path to circulate. The circulating cooling pipe arranged outside the first motor can absorb the heat generated by the first motor during operation, thereby improving the stability of the motor and preventing the performance of the motor from being affected by the temperature rise of the motor.

Description

Technical Field

[0001] This invention belongs to the field of electric motors, and particularly relates to an electric motor heat dissipation structure and a working robot. Background Technology

[0002] Motors generate heat during operation. If a motor operates at full load and full speed for an extended period, it will generate a large amount of heat, causing the internal temperature of the motor to rise. This rise in internal temperature will trigger an over-temperature alarm from the encoder located at the tail of the motor, and may even lead to over-temperature damage to some components, thus preventing the motor from functioning properly.

[0003] Especially for motors operating in enclosed environments, the heat they generate is difficult to dissipate, which seriously affects the performance and lifespan of the motor.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a motor heat dissipation structure and a working robot.

[0006] To solve the above-mentioned technical problems, on the one hand, the present invention provides a motor heat dissipation structure, including a base, a first motor and a heat dissipation component;

[0007] The base has a sealed cavity configured to house the first motor and a heat dissipation assembly.

[0008] The heat dissipation components include a circulating cooling section and a power drive section;

[0009] The circulating cooling section includes circulating cooling pipes and a liquid storage tank. The liquid storage tank contains coolant, and the circulating cooling pipes are connected to the liquid storage tank to form a circulating flow path with the liquid storage tank.

[0010] The circulating cooling pipe has a receiving area along its circulation path, and the receiving area encloses at least part of the first motor;

[0011] The power drive unit is located on the circulation path and is configured to drive the coolant circulation within the circulation path.

[0012] In the above technical solution, in the part of the circulating cooling pipe that wraps around the first motor, the side of the circulating cooling pipe close to the first motor is attached to the outer wall of the first motor, and the side of the circulating cooling pipe close to the base is attached to the inner wall of the base, so as to achieve heat exchange between the walls.

[0013] In the above technical solution, the power drive unit is located in the circulation flow path of the circulating cooling pipe.

[0014] In the above technical solution, the power drive unit includes a power chamber connected to the circulating cooling pipe, and a chamber is formed inside the power chamber, which contains driving blades.

[0015] The power drive unit also includes a second motor formed outside the power compartment, with the output shaft of the second motor extending into the interior of the power compartment and connected to the drive blade shaft.

[0016] In the above technical solution, the circulating cooling pipe includes a first pipe section, a second pipe section and a third pipe section, the liquid storage tank has an outlet and a return port, the inlet end of the third pipe section is connected to the outlet of the liquid storage tank, and the outlet end of the first pipe section is connected to the return port of the liquid storage tank.

[0017] The power compartment in the power drive unit is connected between the second and third pipe sections. The liquid storage tank, the third pipe section, the second pipe section, and the first pipe section are connected end to end to form a circulating flow path.

[0018] In the above technical solution, the first pipe section has two symmetrical and interconnected bends, and a receiving area is formed between the two bends. Each bend is provided with a liquid outlet, and two return ports are symmetrically opened on the liquid storage tank. The liquid outlets of the two bends are connected to the return ports on the liquid storage tank to connect the first pipe section and the liquid storage tank.

[0019] In the above technical solution, two interconnected bending sections are symmetrically arranged on both sides of the first motor.

[0020] In the above technical solution, each bending part has multiple bending segments along the axial direction of the first motor.

[0021] In the above technical solution, the connection between the second pipe section and the first pipe section is located at the center of the first pipe section so that the coolant flowing through the second pipe section can be evenly distributed to the two bends on the first pipe section.

[0022] In the above technical solution, the liquid outlet and return port of the liquid storage tank are located at the bottom and side of the liquid storage tank, respectively.

[0023] In the above technical solution, the receiving area in the circulating cooling pipe is a concave-shaped area.

[0024] In the above technical solution, the heat dissipation structure also includes a power support base and a liquid storage tank support base. The power drive unit is fixed in the base through the power support base, and the liquid storage tank is fixed in the base through the liquid storage tank support base.

[0025] In the above technical solution, both the power support base and the liquid storage tank support base are retractable bases.

[0026] On the other hand, the present invention also provides a working robot, including a robot body and a motor heat dissipation mechanism according to any one of claims 1-12, wherein the base serves as the robot base of the robot body, and the first motor serves as the joint motor of the robot.

[0027] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0028] 1. In the embodiments of this application, by setting a circulating cooling pipe outside the first motor, the heat generated by the first motor during operation can be absorbed, thereby improving the stability of the motor and preventing its performance from being affected by the increase in motor temperature.

[0029] Second, in the embodiments of this application, the circulating cooling pipe used to absorb the heat of the first motor adopts heat conduction for heat absorption and dissipation, which can absorb and dissipate the heat generated by the first motor in a timely and effective manner, thereby improving the heat dissipation effect of the first motor.

[0030] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0031] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0032] Figure 1 This is an exploded structural diagram of a motor heat dissipation structure and a motor heat dissipation structure in a work robot according to an embodiment of this application;

[0033] Figure 2 This is a schematic diagram of the internal structure of a motor heat dissipation structure and a motor heat dissipation structure in a work robot, according to an embodiment of this application.

[0034] Figure 3 This is a three-dimensional structural diagram of a motor heat dissipation structure and a heat dissipation component in a work robot, according to an embodiment of this application.

[0035] Figure 4 This is a three-dimensional structural diagram of a motor heat dissipation structure and a power drive unit in a work robot according to an embodiment of this application. The diagram shows the structure when the push blade is installed in the power chamber.

[0036] Figure 5 This is a schematic diagram of the physical structure of a motor heat dissipation structure and a pusher blade in a work robot, according to an embodiment of this application.

[0037] Figure 6 This is a schematic diagram of the overall structure of a motor heat dissipation structure and a work robot according to an embodiment of this application;

[0038] Figure 1-6 In the middle: 1-base, 2-first motor, 3-circulating cooling unit, 311-circulating cooling pipe, 312-liquid tank, 313-accommodation area, 3111-first pipe section, 3112-second pipe section, 3113-third pipe section, 31111-bending part, 4-power drive unit, 411-power compartment, 412-push blade, 413-second motor, 5-power support seat, 6-liquid tank support seat, 7-robot body, 8-cover plate.

[0039] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0040] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Currently, motors operating in enclosed environments struggle to dissipate the heat they generate, severely impacting their performance and lifespan. This invention addresses this by incorporating external circulating cooling pipes into the motor, which absorb the heat generated during operation, improving motor stability and preventing performance degradation due to overheating.

[0043] To further illustrate the technical solution of this invention, the following is combined with... Figures 1-6 The following specific implementation examples are provided.

[0044] Example 1:

[0045] On the one hand, embodiments of this application provide a method such as Figure 1 and Figure 2The motor heat dissipation structure shown includes a base 1, a first motor 2, and a heat dissipation assembly. The base 1 includes a seat body with an opening and a cover plate 8. The cover plate 8 covers the opening of the seat body to form a sealed cavity inside the base 1. The sealed cavity is configured to accommodate the first motor 2 and the heat dissipation assembly. The heat dissipation assembly includes a circulating cooling section 3 and a power drive section 4. The first motor 2 is fixedly connected to the base 1.

[0046] Specifically, such as Figure 3 As shown, the circulating cooling unit 3 includes a circulating cooling pipe 311 and a liquid storage tank 312. The liquid storage tank 312 stores coolant and has a filling port with a threaded filling cap. To add coolant to the liquid storage tank 312, simply open the threaded filling cap. Similarly, to replace the coolant, the same procedure can be performed by opening the threaded filling cap.

[0047] The circulating cooling pipe 311 is connected to the liquid storage tank 312 and forms a circulating flow path with the liquid storage tank 312. The circulating cooling pipe 311 forms a receiving area 313 along its circulation path, and the receiving area 313 at least partially accommodates the first motor 2. The power drive unit 4 is provided on the circulating flow path and is configured to drive the coolant in the circulating flow path to circulate.

[0048] When the first motor 2 is working, the power drive unit 4 starts at the same time. The power drive unit 4 drives the coolant in the circulation path to circulate continuously. The heat generated by the first motor 2 is absorbed by the coolant in the circulation path, thereby preventing the high temperature of the first motor 2 from damaging its internal components and improving the service life of the first motor 2.

[0049] Furthermore, in the portion of the circulating cooling pipe 311 that encloses the first motor 2, the side of the circulating cooling pipe 311 closest to the first motor 2 is in contact with the outer wall of the first motor 2, and the side of the circulating cooling pipe 311 closest to the base 1 is in contact with the inner wall of the base 1, thereby achieving heat exchange between the two walls. Specifically, when the first motor 2 is working, when the coolant in the circulating cooling pipe 311 flows to the outer wall of the first motor 2 under the drive of the power drive component 4, the coolant in the circulating cooling pipe 311 absorbs the heat generated by the first motor 2, and then flows to the inner walls on both sides of the base 1 for heat dissipation, thereby achieving heat exchange. Finally, it flows back to the coolant storage tank 312, which continuously provides coolant to the power drive component 4, so that the coolant in the circulating cooling pipe 311 flows continuously under the action of the power drive component 4, thereby enabling the first motor 2 to achieve effective heat dissipation.

[0050] The following section will first introduce the power drive component 4:

[0051] like Figure 3As shown, in this embodiment, the power drive component 4 is disposed in the circulation flow path of the circulating cooling pipe 311. Figure 4 and Figure 5 As shown, the power drive component 4 includes a power chamber 411 connected to and communicating with the circulating cooling pipe 311. The power chamber 411 is a spherical chamber with a diameter larger than that of the circulating cooling pipe 311. An interior chamber is formed within the power chamber 411, containing a pusher blade 412. The radius of rotation of the pusher blade 412 is slightly smaller than the radius of the power chamber 411. The power drive component also includes a second motor 413 formed outside the power chamber 411. The output shaft of the second motor 413 extends into the interior of the power chamber 411 and connects to the shaft of the pusher blade 412. The first motor 2 and the second motor 413 are connected in series. When the first motor 2 starts, the second motor 413 starts synchronously and drives the pusher blade 412 to rotate. The rotation of the pusher blade 412 causes the coolant in the circulating cooling pipe 311 to circulate, thereby dissipating heat from the first motor 2.

[0052] It should be noted that the second motor 413 in this embodiment is a low-power motor, whose power is much less than that of the first motor 2. Therefore, the heat generated by the second motor 413 can be ignored.

[0053] It should also be noted that in this embodiment, the power drive unit 4 is disposed on the circulation path of the circulating cooling pipe 311. In some alternative embodiments, the power drive unit 4 can also be disposed on the liquid storage tank 312. When the power drive unit 4 is disposed on the liquid storage tank 312, the pusher blade 412 is located inside the liquid storage tank 312. Of course, since the volume of the liquid storage tank 312 is relatively large compared to the volume of the power chamber 411, the size of the pusher blade 412 also increases accordingly when it is disposed inside the liquid storage tank 312. For ease of explanation, the following description will take the example of the power drive unit 4 being disposed on the circulating cooling pipe 311.

[0054] The following is a detailed introduction to the circulating cooling pipe 311:

[0055] like Figure 3 As shown, the circulating cooling pipe 311 includes a first pipe section 3111, a second pipe section 3112, and a third pipe section 3113. The liquid storage tank 312 has an outlet and a return port. The inlet end of the third pipe section 311 is connected to the outlet of the liquid storage tank 312, and the outlet end of the first pipe section 3111 is connected to the return port of the liquid storage tank 312. The power compartment 411 in the power drive unit 4 is connected between the second pipe section 3111 and the third pipe section 3112. The liquid storage tank 312, the third pipe section 3113, the second pipe section 3112, and the first pipe section 3111 are connected end to end to form a circulating flow path.

[0056] When the pusher blade 412 in the power chamber 411 rotates, the coolant in the storage tank 312 flows sequentially through the third pipe section 3113, the power chamber 411, the second pipe section 3112 and the first pipe section 3111, and flows back to the storage tank 312 through the outlet end of the first pipe section 3111. During this flow, the coolant absorbs the heat emitted by the first motor 2 when it flows through the first pipe section 3111.

[0057] Furthermore, the first pipe section 3111 has two interconnected bends 31111, and the aforementioned receiving area 313 is formed between the two bends 3111. Each bend 3111 is provided with a corresponding liquid outlet. The liquid storage tank 312 has two symmetrically opened return ports. The liquid outlets of the two bends 31111 are connected to the two return ports on the liquid storage tank 312 to connect the first pipe section 3111 and the liquid storage tank 312.

[0058] Furthermore, two interconnected bent portions 31111 are symmetrically arranged on both sides of the first motor 2.

[0059] Furthermore, each bend 31111 has multiple bends along the axial direction of the first motor 2.

[0060] In this embodiment, by setting multiple bends in the first pipe section 3111, the contact area between the circulating cooling pipe 311 and the first motor 2 and the base 1 can be increased, thereby increasing the area for absorbing the heat generated by the first motor 2 and increasing the heat dissipation area of ​​the circulating cooling pipe 311. As a result, the heat generated by the first motor 2 can be absorbed quickly and the absorbed heat can be quickly dissipated to the outside through the side wall of the base 1, thus improving the heat dissipation effect of the first motor 2.

[0061] In order to make the coolant flow in the two bends 31111 on the first pipe section 3111 more uniform, in this embodiment, the connection between the second pipe section 3112 and the first pipe section 3111 is located at the center of the first pipe section 3111. This arrangement can evenly distribute the coolant flowing through the second pipe section 3112 to the two bends 31111 on the first pipe section 3111, thereby avoiding insufficient coolant flow in one bend 31111 from affecting the heat absorption effect on one side of the first motor 2, and improving the overall heat dissipation effect of the first motor 2.

[0062] In order to allow the coolant a relatively long time to cool itself after flowing back into the reservoir 312, in this embodiment, the outlet and return port of the reservoir 312 are respectively located at the bottom and side of the reservoir 312, and the return port is located at the upper side of the reservoir 312, so as to prevent the coolant from being discharged directly from the outlet without being sufficiently cooled.

[0063] In order to further increase the heat dissipation area of ​​the circulating cooling pipe 311 on the first motor 2, in this embodiment, the receiving area 313 in the circulating cooling pipe 311 is set as a concave area. The concave receiving area 313 surrounds the outer wall of the first motor 2, thereby increasing the contact area between the circulating cooling pipe 311 and the first motor 2, and thus improving the heat dissipation effect on the first motor 2.

[0064] To facilitate fixing the power drive unit 4 and the liquid storage tank 312 inside the base 1, the heat dissipation structure in this embodiment also includes a power support base 5 and a liquid storage tank support base 6. The power drive unit 4 is fixed inside the base 1 by the power support base 5, and the liquid storage tank 312 is fixed inside the base 1 by the liquid storage tank support base 6.

[0065] Furthermore, both the power support base 5 and the liquid tank support base 6 are designed as telescopic seats. Specifically, the power support base 5 and the liquid tank support base 6 can extend and retract along the axis of the first motor 2. By making the support base 5 and the liquid tank support base 6 telescopic, the position of the circulation path and the liquid tank 312 relative to the first motor 2 can be changed. If a certain part of the first motor 2 heats up excessively during use, the position of the circulation path and the liquid tank 312 can be changed to provide targeted heat dissipation for the part of the first motor 2 that is overheating.

[0066] In summary, this type of motor heat dissipation structure effectively dissipates the heat generated during motor operation, providing excellent protection for the motor and increasing its service life.

[0067] On the other hand, this application also provides a method such as Figure 6 The work robot shown includes a robot body 7 and the aforementioned motor cooling mechanism. The base 1 serves as the robot base of the robot body 7, and the first motor 2 serves as the joint motor of the robot. Specifically, the work robot is a SCARA robot.

[0068] When the robot is working, the joint motor and the second motor 413 are turned on at the same time. The second motor 413 drives the pusher blade 412 to rotate, causing the coolant in the circulating cooling pipe 311 to flow. When the coolant flows to the circulating cooling pipe on both sides of the joint motor, it absorbs a large amount of heat generated when the joint motor is running. Then, through heat exchange, the absorbed heat is transferred to the side wall of the robot base and dissipated to the outside through the side wall of the robot base. Then, it flows back to the storage tank 312 through the circulating cooling pipe 311.

[0069] The above-mentioned structure of the robot can effectively dissipate heat from the joint motors, improve the stability of the motors, and prevent the performance of the robot from being affected by the increase in motor temperature, thus ensuring the performance of the robot. On the other hand, it can also increase the service life of the motors, and at the same time, the service life of the robot.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A motor heat dissipation structure, characterized in that, Includes a base (1), a first motor (2), and a heat dissipation assembly; The base (1) has a sealed cavity configured to house the first motor (2) and a heat dissipation assembly; The heat dissipation assembly includes a circulating cooling section (3) and a power drive section (4). The circulating cooling section (3) includes a circulating cooling pipe (311) and a liquid storage tank (312). The liquid storage tank (312) contains coolant. The circulating cooling pipe (311) is connected to the liquid storage tank (312) and forms a circulating flow path with the liquid storage tank (312). The circulating cooling pipe (311) forms a receiving area (313) along its circulation path, the receiving area at least partially accommodating the first motor (2); The power drive unit (4) is disposed on the circulation path and configured to drive the coolant in the circulation path to circulate; The circulating cooling pipe (311) includes a first pipe section (3111), a second pipe section (3112), and a third pipe section (3113). The liquid storage tank (312) has an outlet and a return port. The inlet end of the third pipe section (311) is connected to the outlet of the liquid storage tank (312), and the outlet end of the first pipe section (3111) is connected to the return port of the liquid storage tank (312). The liquid storage tank (312), the third pipe section (3113), the second pipe section (3112), and the first pipe section (3111) are connected end to end to form a circulating flow path. The first pipe section (3111) has two interconnected bends (31111), and the receiving area (313) is formed between the two bends (3111). Each bend (31111) is provided with a liquid outlet. The liquid storage tank (312) has two symmetrical return ports. The liquid outlets of the two bends (31111) are connected to the return ports on the liquid storage tank (312) to connect the first pipe section (3111) and the liquid storage tank (312).

2. The motor heat dissipation structure according to claim 1, characterized in that, In the portion of the circulating cooling pipe (311) that encloses the first motor (2), the side of the circulating cooling pipe (311) close to the first motor (2) is attached to the outer wall of the first motor (2), and the side of the circulating cooling pipe (311) close to the base (1) is attached to the inner wall of the base (1) to achieve heat exchange between the walls.

3. The motor heat dissipation structure according to claim 1 or 2, characterized in that, The power drive unit (4) is located on the circulation path of the circulating cooling pipe (311).

4. The motor heat dissipation structure according to claim 3, characterized in that, The power drive unit (4) includes a power chamber (411) connected to the circulating cooling pipe (311), and a chamber is formed inside the power chamber (411), and a pusher blade (412) is provided inside the chamber. The power drive unit (4) also includes a second motor (413) formed outside the power chamber (411), the output shaft end of the second motor (413) extending into the interior of the power chamber (411) and connected to the shaft of the push blade (412).

5. The motor heat dissipation structure according to claim 4, characterized in that, The power compartment (411) in the power drive unit (4) is connected between the second pipe section (3111) and the third pipe section (3112).

6. The motor heat dissipation structure according to claim 1, characterized in that, Two interconnected bends (31111) are symmetrically arranged on both sides of the first motor (2).

7. The motor heat dissipation structure according to claim 6, characterized in that, Each of the bending portions (31111) has multiple bending segments formed along the axial direction of the first motor (2).

8. The motor heat dissipation structure according to claim 6 or 7, characterized in that, The connection between the second pipe section (3112) and the first pipe section (3111) is located at the center of the first pipe section (3111) so that the coolant flowing through the second pipe section (3112) can be evenly distributed to the two bends (31111) on the first pipe section (3111).

9. The motor heat dissipation structure according to any one of claims 1-7, characterized in that, The outlet and return port of the liquid storage tank (312) are located at the bottom and side of the liquid storage tank (312), respectively.

10. The motor heat dissipation structure according to claim 1, characterized in that, The receiving area (313) in the circulating cooling pipe (311) is a concave region.

11. The motor heat dissipation structure according to claim 4, characterized in that, The heat dissipation structure also includes a power support base (5) and a liquid storage tank support base (6). The power drive unit (4) is fixed in the base (1) through the power support base (5), and the liquid storage tank (312) is fixed in the base (1) through the liquid storage tank support base (6).

12. The motor heat dissipation structure according to claim 11, characterized in that, Both the power support base (5) and the liquid storage tank support base (6) are retractable bases.

13. A work robot, characterized in that, The system includes a robot body (7) and a motor cooling mechanism as described in any one of claims 1-12, wherein the base (1) serves as the robot base of the robot body (7), and the first motor (2) serves as the joint motor of the robot.

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