Brushless motor applied to robot joint

Abstract

The invention relates to the technical field of motors, and discloses a brushless motor applied to a robot joint, the brushless motor comprises a motor body, a motor shaft is arranged in the motor body, a change gear set is installed through the motor shaft, the motor shaft is located in the motor body and sleeved with a blowing sheet, and the blowing sheet is driven by the motor shaft to rotate; the robot joint brushless motor comprises a motor body, the periphery of the motor body is provided with a plurality of air cabins, and the exterior of the motor body is also provided with cooling fins distributed among the plurality of air cabins. Meanwhile, external air heat exchange is conducted through an air bin, cooling fins and a cooling impeller, the unique structures of a push plate, a guide piece, a sliding block and a spring piece are combined, the air bag action and the airflow efficiency are further optimized, the heat dissipation performance is improved through a liquid supplementing bin and cooling liquid circulation, and therefore efficient heat dissipation, noise isolation and air closed circulation are achieved; and the motor performance and stability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of motors, and in particular to a brushless motor applied to robot joints. Background Art

[0002] The brushless motor for robot joints, also known as brushless DC motor, is a common type of motor that is widely used in robot joints.

[0003] As existing robots are becoming increasingly miniaturized, the brushless motors in their joints are required to have the advantages of high efficiency, low noise, high precision, and long life. In addition, they need to switch between high, medium, and low speeds at any time to cope with different loads, which will generate a lot of heat. Traditional brushless motors usually need to be equipped with a cooling system or a centrifugal impeller, which undoubtedly increases the size of the equipment. In addition, there is a centrifugal force when the motor is under low load, which affects the stability of the robot's joints and increases the motor noise, which is not conducive to the application of brushless motors in miniaturized robot joints. Summary of the invention

[0004] The purpose of the present invention is to provide a brushless motor applied to robot joints, aiming to solve the problem that existing brushless motors cannot meet the heat dissipation requirements of miniaturized robot joints.

[0005] The present invention is implemented as follows: a brushless motor applied to a robot joint comprises a motor body, a machine shaft is arranged inside the motor body, a speed change gear set is installed through the machine shaft, the machine shaft is located inside the motor body and a blasting blade is sleeved thereon, and the blasting blade is driven to rotate by the machine shaft; A plurality of air bins are arranged around the motor body, and heat sinks distributed between the air bins are also arranged outside the motor body. The ends of the air bins extend to the inside of both ends of the motor body, and an air bag is arranged at one end of the air bin close to the blast plate. The air bag generates negative pressure through continuous extrusion of the blast plate to draw the hot air inside the motor body to the outside of the motor body and exchange heat with the heat sinks to reduce the internal temperature of the motor body.

[0006] Preferably, a guide vane corresponding to the air bag is installed on the inner wall of the motor body, a slider is slidably arranged inside the guide vane, a spring sheet is also arranged inside the guide vane, and an end of the spring sheet abuts against a side of the slider away from the machine shaft; A push plate is installed on the sliding block, and two ends of the air bag are respectively fixed to the inner wall of the motor body and the end of the push plate.

[0007] Preferably, the end of the push plate facing away from the wind sleeve is provided with a conical protrusion; The cross section of the air blowing sheet is rhombus-shaped, and pressure wheels are installed at the four corners of the air blowing sheet, and the air blowing sheet contacts the rhombus-shaped protrusion of the push plate through the pressure wheels.

[0008] Preferably, the two ends of the air bin are respectively provided with an air blowing port and an air inlet, one end of the air bag is connected in series with the air inlet of the air bin, and the other end of the air bag is also provided with an air exhaust port; One-way air valves opening from the air inlet toward the air bin are also respectively arranged inside the two ends of the air bag.

[0009] Preferably, the machine shaft is located outside the motor body and is sleeved with a heat dissipation impeller corresponding to the position of the heat sink; The heat dissipation impeller is arranged in an annular shape, and the heat dissipation impeller is located inside the annular portion and has evenly distributed inclined blades.

[0010] Preferably, the heat sink is provided with a plurality of protrusions evenly distributed along the blowing direction of the heat dissipation impeller, and chamfers are provided on both sides of the protrusions in the direction close to the heat dissipation impeller.

[0011] Preferably, a liquid replenishing tank is also installed at the end of the motor body, a piston cylinder is arranged inside the liquid replenishing tank, and a piston rod is slidably installed inside the piston cylinder; The piston rod is located inside the piston cylinder and is sleeved with a piston at one end thereof, and is located outside the piston cylinder and is provided with a top block, and the piston rod is located between the top block and the piston cylinder and is sleeved with a return spring at the outside thereof; The top block is placed inside one of the air bags.

[0012] Preferably, one-way valves are provided on both sides of one end of the piston cylinder away from the piston rod, and the piston cylinder is connected in series with a liquid guide tube through the one-way valve. The liquid guide tube is embedded on the outside of the heat sink and also passes through the gas chamber.

[0013] The present invention discloses a brushless motor applied to robot joints, and the beneficial effects are as follows: this solution proposes an innovative brushless motor design for robot joints, which realizes internal air circulation heat dissipation through built-in blowers and air bags, and simultaneously utilizes air bins, heat sinks and heat dissipation impellers for external air heat exchange, and combines a unique push plate, guide vane, slider and spring sheet structure to further optimize the air bag action and airflow efficiency, and improves heat dissipation performance through a liquid replenishment bin and coolant circulation. Compared with traditional brushless motors with centrifugal impellers, the brushless motor has better stability, and also realizes efficient heat dissipation, noise isolation and closed air circulation, thereby improving motor performance and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of a brushless motor applied to a robot joint provided by an embodiment of the present invention; Figure 2 It is a partial internal view of a motor body of a brushless motor applied to a robot joint provided by an embodiment of the present invention; Figure 3 A brushless motor for robot joints provided by an embodiment of the present invention Figure 2 Schematic diagram of the AA section along the arrow direction; Figure 4 A brushless motor for robot joints provided by an embodiment of the present invention Figure 2 The schematic diagram of the cross section BB along the arrow direction; Figure 5 It is a partial front view schematic diagram of a motor body of a brushless motor applied to a robot joint provided by an embodiment of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of a brushless motor fluid replenishing tank applied to a robot joint provided by an embodiment of the present invention.

[0015] Marking Description: 1. Motor body; 2. Speed ​​gear set; 3. Heat sink; 4. Air chamber; 5. Liquid filling chamber; 6. Heat dissipation impeller; 7. Blower; 11. Crankshaft; 41. air bag; 42. push plate; 43. air exhaust port; 44. air blowing port; 45. air inlet; 46. guide vane; 47. slider; 48. spring sheet; 51. Liquid guide tube; 52. Piston cylinder; 53. Piston rod; 54. Piston; 55. Ejector block; 56. Return spring; 57. One-way valve; 71. Pressure wheel. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0018] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0019] In this embodiment: Reference Figure 1 As shown, a preferred embodiment of the present invention is provided.

[0020] A brushless motor applied to a robot joint of this embodiment includes a motor body 1, a machine shaft 11 is arranged inside the motor body 1, a speed change gear set 2 is installed through the machine shaft 11, the machine shaft 11 is located inside the motor body 1 and is sleeved with a blasting blade 7, and the blasting blade 7 is driven to rotate by the machine shaft 11; A plurality of air bins 4 are arranged around the motor body 1, and heat sinks 3 distributed between the air bins 4 are also arranged outside the motor body 1, and the ends of the air bins 4 extend to the inside of both ends of the motor body 1, and an air bag 41 is arranged at one end of the air bin 4 close to the blast plate 7. The air bag 41 generates negative pressure through continuous extrusion of the blast plate 7 to draw the hot air inside the motor body 1 to the outside of the motor body 1 and exchange heat with the heat sink 3, thereby reducing the internal temperature of the motor body 1.

[0021] See attached Figure 2-4 As shown, a guide piece 46 corresponding to the air bag 41 is installed on the inner wall of the motor body 1, a slider 47 is slidably arranged inside the guide piece 46, and a spring piece 48 is also arranged inside the guide piece 46, and the end of the spring piece 48 abuts against the side of the slider 47 away from the machine shaft 11, and a push plate 42 is installed on the slider 47, and the two ends of the air bag 41 are respectively fixed to the inner wall of the motor body 1 and the end of the push plate 42, and under the action of the spring piece 48, the slider 47 will be pushed to drive the push plate 42 to slide in the direction of the blasting piece 7, pulling the air bag 41 to expand; Furthermore, the end of the push plate 42 facing away from the air bag 41 is provided with a conical protrusion, the cross section of the blast sheet 7 is a rhombus, and pressure wheels 71 are installed at the four corners of the blast sheet 7, the blast sheet 7 contacts the rhombus protrusion of the push plate 42 through the pressure wheels 71, when the blast sheet 7 rotates along the random shaft 11, the pressure wheel 71 at the long end thereof squeezes the conical protrusion of the push plate 42, so that the slider 47 of the push plate 42 compresses the air bag 41 to shrink it while the guide sheet 46 slides and compresses the spring sheet 48; It is worth noting that the two ends of the air bin 4 are respectively provided with a blowing port 44 and an air inlet 45, one end of the air bag 41 is connected in series with the air inlet 45 of the air bin 4, and the other end of the air bag 41 is also provided with an exhaust port 43, and the two ends of the air bag 41 are also respectively provided with a one-way air valve opened from the air inlet 45 toward the air bin 4. When the air bag 41 continuously contracts and expands, under the action of the one-way air valves at both ends, the air inside the motor body 1 will be sucked into the expanded air bag 41 by the exhaust port 43, and in the process of contraction of the air bag 41, the air will enter the air bin 4 from the air inlet 45, and re-enter the motor body 1 from the blowing port 44 of the air bin 4, so as to realize the closed circulation of air inside and outside, realize the heat dissipation operation, isolate the noise, and prevent the external dust from entering the brushless motor.

[0022] In other implementations of this embodiment, the machine shaft 11 is located outside the motor body 1 and is sleeved with a cooling impeller 6 corresponding to the position of the heat sink 3. The cooling impeller 6 is arranged in a ring shape, and the cooling impeller 6 is located on the inner side of the ring portion and has evenly distributed inclined blades. The heat sink 3 is evenly distributed with a number of protrusions along the blowing direction of the cooling impeller 6, and chamfers are provided on both sides of the protrusions close to the cooling impeller 6. The cooling impeller 6 is driven to rotate by the machine shaft 11 to blow air toward the heat sink 3. The airflow passes through the grooves between the protrusions of the heat sink 3 to dissipate the heat of the heat sink 3. The chamfers of the protrusions of the heat sink 3 can continuously reduce the groove spacing to increase the flow rate of the passing airflow and improve the heat dissipation effect.

[0023] It is worth noting that in order to quickly cool down the air in the closed circulation inside and outside the above-mentioned motor body 1, a liquid replenishing tank 5 is also installed at the end of the motor body 1, and a piston cylinder 52 is arranged inside the liquid replenishing tank 5, and a piston rod 53 is slidably installed inside the piston cylinder 52. The piston rod 53 is located inside the piston cylinder 52 and is sleeved with a piston 54 at one end, and a top block 55 is arranged at the end of the piston rod 53 located outside the piston cylinder 52. The piston rod 53 is located between the top block 55 and the piston cylinder 52 and is sleeved with a return spring 56 on the outside. The top block 55 is placed inside one of the air bags 41. When the air bag 41 is squeezed and contracted by the blasting sheet 7, the blasting sheet 7 will squeeze the top block 55 at the end of the piston rod 53 at the same time, and cooperate with the action of the return spring 56 to make the piston 54 reciprocate inside the piston cylinder 52. Furthermore, one-way valves 57 are provided on both sides of one end of the piston cylinder 52 away from the piston rod 53. The piston cylinder 52 is connected in series with a liquid guide tube 51 through the one-way valve 57. The liquid guide tube 51 is embedded in the outer side of the heat sink 3, and the liquid guide tube 51 also passes through the air chamber 4. During the reciprocating movement of the piston 54, the two one-way valves 57 cooperate to enable the coolant in the liquid guide tube 51 to be sent into the air chamber 4 through the liquid guide tube 51, and after fully exchanging heat with the air of the motor body 1 in the closed internal circulation, it is sent to the heat sink 3 to exchange heat with the external air, thereby improving the heat dissipation efficiency of the brushless motor.

[0024] This solution proposes an innovative design of a brushless motor for robot joints, which realizes internal air circulation heat dissipation through built-in blower blades 7 and air bags 41, and uses air bin 4, heat sink 3 and heat dissipation impeller 6 for external air heat exchange. Combined with the unique push plate 42, guide vane 46, slider 47 and spring sheet 48 structure, the action of air bag 41 and air flow efficiency are further optimized, and the heat dissipation performance is improved through the liquid replenishment tank 5 and coolant circulation, thereby realizing efficient heat dissipation, noise isolation and air closed circulation, and improving motor performance and stability.

[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A brushless motor used in a robot joint, comprising a motor body, a machine shaft is arranged inside the motor body, and a speed change gear set is installed through the machine shaft, characterized in that: The machine shaft is located inside the motor body and is sleeved with a blasting blade, and the blasting blade is driven to rotate by the machine shaft; A plurality of air bins are arranged around the motor body, and heat sinks distributed between the air bins are also arranged outside the motor body. The ends of the air bins extend to the inside of both ends of the motor body, and an air bag is arranged at one end of the air bin close to the blast plate. The air bag generates negative pressure through continuous extrusion of the blast plate to draw the hot air inside the motor body to the outside of the motor body and exchange heat with the heat sinks to reduce the internal temperature of the motor body.

2. A brushless motor for a robot joint as claimed in claim 1, characterized in that: The inner wall of the motor body is provided with a guide piece corresponding to the air bag, a slider is slidably arranged inside the guide piece, a spring piece is also arranged inside the guide piece, and the end of the spring piece abuts against the side of the slider away from the machine shaft; A push plate is installed on the sliding block, and two ends of the air bag are respectively fixed to the inner wall of the motor body and the end of the push plate.

3. A brushless motor for a robot joint as claimed in claim 2, characterized in that: The end of the push plate facing away from the wind sleeve is provided with a conical protrusion; The cross section of the air blowing sheet is rhombus-shaped, and pressure wheels are installed at the four corners of the air blowing sheet, and the air blowing sheet contacts the rhombus-shaped protrusion of the push plate through the pressure wheels.

4. A brushless motor for a robot joint as claimed in claim 1, characterized in that: The two ends of the air bin are respectively provided with an air blowing port and an air inlet, one end of the air bag is connected in series with the air inlet of the air bin, and the other end of the air bag is also provided with an air exhaust port; One-way air valves opening from the air inlet toward the air bin are also respectively arranged inside the two ends of the air bag.

5. A brushless motor for a robot joint as claimed in claim 1, characterized in that: The shaft is located outside the motor body and is sleeved with a heat dissipation impeller corresponding to the position of the heat sink; The heat dissipation impeller is arranged in an annular shape, and the heat dissipation impeller is located inside the annular portion and has evenly distributed inclined blades.

6. A brushless motor for a robot joint as claimed in claim 5, characterized in that: The heat sink is evenly distributed with a plurality of protrusions along the blowing direction of the heat dissipation impeller, and chamfers are arranged on both sides of the protrusions in the direction close to the heat dissipation impeller.

7. A brushless motor for a robot joint as claimed in claim 1, characterized in that: A liquid replenishing tank is also installed at the end of the motor body, a piston cylinder is arranged inside the liquid replenishing tank, and a piston rod is slidably installed inside the piston cylinder; The piston rod is located inside the piston cylinder and is sleeved with a piston at one end thereof, and is located outside the piston cylinder and is provided with a top block, and the piston rod is located between the top block and the piston cylinder and is sleeved with a return spring at the outside thereof; The top block is placed inside one of the air bags.

8. A brushless motor for a robot joint as claimed in claim 7, characterized in that: One-way valves are arranged on both sides of one end of the piston cylinder away from the piston rod. The piston cylinder is connected in series with a liquid guide tube through the one-way valve. The liquid guide tube is embedded outside the heat sink and also passes through the gas chamber.

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