A brushless motor applied to a robot joint

Abstract

The present invention relates to the technical field of motors, and discloses a brushless motor applied to robot joints, comprising a motor body, wherein a machine shaft is arranged inside the motor body, and a speed change gear set is installed through the machine shaft, and the machine shaft is located inside the motor body and is sleeved with a blast plate, and the blast plate is driven to rotate by the machine shaft; a plurality of air bins are arranged around the motor body, and a heat sink distributed between the plurality of air bins is also arranged outside the motor body. This scheme proposes an innovative design of a brushless motor for robot joints, which realizes internal air circulation and heat dissipation through built-in blast plates and air bags, and simultaneously utilizes air bins, heat sinks and heat dissipation impellers for external air heat exchange, and combines with a unique push plate, guide vane, slider and spring sheet structure to further optimize the action of the air bag and airflow efficiency, and improve the heat dissipation performance through a liquid replenishing bin and coolant circulation, thereby realizing efficient heat dissipation, noise isolation and air closed circulation, and improving motor performance and stability.

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;

[0006] 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.

[0007] 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;

[0008] 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.

[0009] Preferably, the end of the push plate facing away from the wind sleeve is provided with a diamond-shaped protrusion;

[0010] 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.

[0011] 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;

[0012] 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.

[0013] 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;

[0014] 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.

[0015] 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.

[0016] 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;

[0017] 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;

[0018] The top block is placed inside one of the air bags.

[0019] 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 in the outer side of the heat sink and also passes through the gas chamber.

[0020] 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

[0021] Figure 1It is a schematic diagram of a brushless motor applied to a robot joint provided by an embodiment of the present invention;

[0022] Figure 2 It is a partial internal view schematic diagram of the motor body of a brushless motor applied to a robot joint provided by an embodiment of the present invention;

[0023] Figure 3 It is a brushless motor applied to a robot joint provided by an embodiment of the present invention Figure 2 Schematic diagram of the A-A cross-section along the arrow direction;

[0024] Figure 4 It is a brushless motor applied to a robot joint provided by an embodiment of the present invention Figure 2 Schematic diagram of the B-B cross-section along the arrow direction;

[0025] Figure 5 It is a partial front view schematic diagram of the motor body of a brushless motor applied to a robot joint provided by an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the cross-sectional structure of the liquid replenishing chamber of a brushless motor applied to a robot joint provided by an embodiment of the present invention.

[0027] Marking description:

[0028] 1. Motor body; 2. Speed change gear set; 3. Heat sink; 4. Air chamber; 5. Liquid replenishing chamber; 6. Heat dissipation impeller; 7. Blowing piece;

[0029] 11. Shaft;

[0030] 41. Air bag; 42. Push plate; 43. Air suction port; 44. Air blowing port; 45. Air inlet; 46. Guide piece; 47. Slide block; 48. Spring piece;

[0031] 51. Liquid guide pipe; 52. Piston cylinder; 53. Piston rod; 54. Piston; 55. Top block; 56. Return spring; 57. Check valve;

[0032] 71. Pressure wheel. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 used to limit the present invention.

[0034] 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.

[0035] The implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0036] In this embodiment:

[0037] Reference Figure 1 As shown, a preferred embodiment of the present invention is provided.

[0038] 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;

[0039] 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.

[0040] See attached Figures 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;

[0041] Further, a rhombus-shaped protrusion is provided at the end of the push plate 42 facing away from the air bag 41. The cross-section of the air blowing piece 7 is rhombus-shaped, and pressing wheels 71 are installed at the four corners of the air blowing piece 7. The air blowing piece 7 abuts against the rhombus-shaped protrusion of the push plate 42 through the pressing wheels 71. When the air blowing piece 7 rotates with the machine shaft 11, the pressing wheels 71 at the long ends thereof squeeze the rhombus-shaped protrusion of the push plate 42, so that while the slider 47 of the push plate 42 slides on the guide piece 46 to compress the spring piece 48, the air bag 41 is compressed to contract.

[0042] It should be noted that air blowing ports 44 and air inlet ports 45 are respectively provided at both ends of the air storage chamber 4. One end of the air bag 41 is connected in series with the air inlet port 45 of the air storage chamber 4, and an air extraction port 43 is further provided at the other end of the air bag 41. One-way air valves are respectively provided inside both ends of the air bag 41 and are open in the direction from the air inlet port 45 to the air storage chamber 4. When the air bag 41 continuously contracts and expands, under the action of the one-way air valves at both ends thereof, the air inside the motor body 1 will be sucked into the expanded air bag 41 through the air extraction port 43, and during the contraction process of the air bag 41, the air will enter the air storage chamber 4 through the air inlet port 45 and re-enter the motor body 1 through the air blowing port 44 of the air storage chamber 4, realizing the internal and external closed circulation of air, realizing the heat dissipation operation, being able to isolate noise, and at the same time preventing external dust from entering the brushless motor.

[0043] In other embodiments of this embodiment, a heat dissipation impeller 6 corresponding to the position of the heat sink 3 is sleeved outside the machine shaft 11 of the motor body 1. The heat dissipation impeller 6 is annularly arranged, and inclined blades are uniformly distributed inside the annular part of the heat dissipation impeller 6. A plurality of protrusions are uniformly distributed along the air blowing direction of the heat dissipation impeller 6 on the heat sink 3, and chamfers are provided on both sides of the protrusion close to the heat dissipation impeller 6. By driving the rotation of the heat dissipation impeller 6 through the machine shaft 11, the heat dissipation impeller 6 blows air towards the heat sink 3, and the air flow passes through the slots between the protrusions of the heat sink 3 to dissipate heat from the heat sink 3. The chamfers of the protrusions of the heat sink 3 can continuously reduce the slot spacing to increase the flow velocity of the passing air flow and improve the heat dissipation effect.

[0044] It should be noted that, in order to quickly cool down the air circulating inside and outside the above-mentioned motor body 1, a liquid replenishing chamber 5 is also installed at the end of the motor body 1. A piston cylinder 52 is arranged inside the liquid replenishing chamber 5. A piston rod 53 is slidably installed inside the piston cylinder 52. A piston 54 is sleeved at one end of the piston rod 53 located inside the piston cylinder 52. A top block 55 is arranged at the end of the piston rod 53 located outside the piston cylinder 52. A return spring 56 is sleeved outside the piston rod 53 between the top block 55 and the piston cylinder 52. The top block 55 is placed inside one of the air bags 41. When the air bag 41 is squeezed and contracted by the air blowing piece 7, the air blowing piece 7 will simultaneously squeeze the top block 55 at the end of the piston rod 53, and with the cooperation of the return spring 56, the piston 54 reciprocates inside the piston cylinder 52;

[0045] Furthermore, one-way valves 57 are arranged on both sides of the end of the piston cylinder 52 away from the piston rod 53. The piston cylinder 52 is connected in series with a liquid guide pipe 51 through the one-way valves 57. The liquid guide pipe 51 is embedded outside the heat sink 3, and the liquid guide pipe 51 also penetrates 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 pipe 51 to be sent into the air chamber 4 through the liquid guide pipe 51. After fully exchanging heat with the air of the motor body 1 with a closed internal circulation, it is sent into the heat sink 3 to exchange heat with the external air, thereby improving the heat dissipation efficiency of the brushless motor.

[0046] This solution proposes an innovative design of a brushless motor for a robot joint. It realizes internal air circulation and heat dissipation by means of an internal air blowing piece 7 and air bags 41. At the same time, it uses the air chamber 4, the heat sink 3 and the heat dissipation impeller 6 to exchange heat with external air. Combining the unique structures of the push plate 42, the guide piece 46, the slider 47 and the spring piece 48, it further optimizes the movement of the air bags 41 and the air flow efficiency, and improves the heat dissipation performance through the liquid replenishing chamber 5 and the coolant circulation, so as to achieve efficient heat dissipation, noise isolation and air closed circulation, and improve the performance and stability of the motor.

[0047] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall 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 diamond-shaped 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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