Driving control device

Abstract

The invention discloses a drive control device which comprises a shell part, a drive part, a harmonic speed reduction assembly and an output part. The shell part is of an inner and outer barrel-shaped structure and comprises a pipe body part of an outer wall part and a middle shaft part of an inner wall part, the partition plate arranged in the radial direction is arranged between the pipe body part and the middle shaft part and divides an inner cavity of the shell part into an upper cavity and a lower cavity, the end cover is fixedly connected with the lower end of the pipe body part, the end cover is provided with an opening, and the lower cavity and the outer portion of the end cover are communicated through the opening; the driving part is arranged in the upper cavity and comprises a stator and a rotor, the stator is matched with the rotor, the stator is fixed to the shell part through a mounting base, the rotor and the rotating shaft are fixedly connected or are of an integrated structure, and the rotating shaft can rotate relative to the shell part; the harmonic speed reduction assembly comprises a fixing part, a wave generator, a flexible gear and a rigid gear, the fixing part and the rotating shaft are fixedly connected or are of an integrated structure, the output component comprises a flange, the flange is fixedly connected with the rigid gear, the flange is used for being connected with an external execution unit, and the heat dissipation performance of the driving control device can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of power transmission, and in particular relates to a drive control device. Background Art

[0002] Drive control devices are widely used. In recent years, some drive control devices with high-precision control have been developed and applied to new energy vehicle execution control transmission devices, intelligent robots, etc. For example, robot joints use drive control devices with harmonic reduction components.

[0003] In order to meet the flexibility requirements of robot joints, a weight-reducing and compact drive control device is provided in the patent document CN216185586U. In the prior art, as the working time increases, the heat will continue to accumulate, and the increase in temperature will cause nonlinear changes in the motor output characteristics, which will bring great difficulties to stable control. At the same time, when the temperature reaches a certain value, it will cause the motor to demagnetize.

[0004] Therefore, how to improve the heat dissipation of the drive control device is an issue that technicians in this field need to pay attention to. Summary of the invention

[0005] In order to overcome the defects of the prior art, the present invention proposes a drive control device, and the technical solution is as follows:

[0006] It includes a housing component, a driving component, a harmonic reduction component and an output component;

[0007] The shell component is an inner and outer cylindrical structure, including a tube body portion as an outer wall portion and a central axis portion as an inner wall portion, a radially arranged partition plate is arranged between the tube body portion and the central axis portion, and divides the inner cavity of the shell component into an upper cavity and a lower cavity, an end cap is fixedly connected to the lower end of the tube body portion, and the end cap has an opening, and the opening communicates with the lower cavity and the outside of the end cap;

[0008] The driving component is arranged in the upper cavity, and includes a stator and a rotor. The stator and the rotor are adapted to each other, and the stator is fixed to the housing component through a mounting seat. The rotor is fixedly connected to the rotating shaft or is an integral structure, and the rotating shaft can rotate relative to the housing component.

[0009] The harmonic reduction assembly includes a fixed part, a wave generator, a flexible wheel and a rigid wheel. The fixed part is fixedly connected to the rotating shaft or has an integrated structure. The wave generator cooperates with the fixed part. The wave generator, the flexible wheel and the rigid wheel are combined to achieve a precise reduction effect.

[0010] The output component comprises a flange, which is fixedly connected to the rigid wheel, and the flange is used for fixedly connecting to an external execution unit.

[0011] As an optional structure, the mounting base of the flexible wheel or driving component of the harmonic reduction assembly divides the upper cavity into an inner cavity and an outer cavity, the cavity wall of the inner cavity includes at least part of the tube wall of the rotor and at least part of the tube wall of the central axis portion of the shell component; the outer cavity includes at least part of the tube wall of the tube body portion.

[0012] As an optional structure, the hollow member serves as a cover member covering the central area and can be fixedly connected to the flange as a part of the output component, or can be fixedly connected to the central axis as a part of the shell component.

[0013] Furthermore, it also includes a support member and a guide member, the support member is sleeved on the central axis and fixedly connected to the shell member, the support member is provided with a first connecting channel, the isolation plate has a second connecting channel, the first connecting channel connects the inner cavity with the second connecting channel, and the second connecting channel connects the lower cavity; the guide member is provided on the rotating shaft and can rotate with the rotating shaft; the central axis is provided with a third connecting channel, the third connecting channel connects the inner cavity of the upper cavity with the external environment of the central axis.

[0014] Further, the support member is further provided with a fourth communication channel, the fourth communication channel is communicated with the first communication channel, and the fourth communication channel is communicated with the outer cavity of the upper cavity;

[0015] Furthermore, the support member is a columnar structure with a central hole, and the outer edge includes a step portion. The support member is sleeved on the central axis and abuts the isolation plate. The columnar structure is radially provided with four axially symmetrical radial through grooves, and the columnar structure is provided with an inner step hole at the bottom. The inner step hole covers the third connecting channel, and the radial through groove is connected to the inner step hole. Part of the radial through groove cooperates with the inner step hole as the first connecting channel, and part of the radial through groove serves as the fourth connecting channel.

[0016] The guide piece is specifically an annular cylindrical structure formed by metal stamping, including a main body and a plurality of blades formed by stamping and bending from the main body toward the center. The main body and the inner wall surface of the rotating shaft are fixed by laser welding. When the driving control device is working, the rotating shaft drives the blades to achieve the effect of heat dissipation.

[0017] As a further extension of the above technical solution, the blade has a guide angle (not shown in the figure), and the guide angle can guide the air flow in the upper cavity to the lower cavity.

[0018] As a further extension of the above technical solution, the tube body is provided with a plurality of inlets, which are spaced apart along the circumference of the tube body, and the inlets connect the outer cavity with the external environment of the tube body, so that another fluid flow passage is formed in the outer cavity to quickly remove heat.

[0019] like Figure 7 Shown and combined Figure 1As a further extension of the technology of the present invention, the drive control device also includes a control circuit board, which is arranged in the lower cavity. The isolation plate has a plurality of protrusions protruding outward on one side of the lower cavity. The protrusions serve as circuit board mounting portions. The circuit board can be fixed to the circuit board mounting portion by fasteners. At least part of the protrusions extend radially and are not connected to the tube body. Along the axial direction of the tube body, the projection of the control circuit board does not cover or does not completely cover the projection of the heat dissipation channel. In this way, an open isolation space is formed between the control circuit board and the cavity wall of the isolation plate, which prevents the heat in the upper cavity from being directly transferred to the control circuit board through the isolation plate, thereby affecting the working stability of the control circuit board. At the same time, the air fluid flowing into the lower cavity from the second connecting channel can take out some heat after passing through the isolation space.

[0020] As a further extension of the above technical solution, a plurality of heat dissipation channels are provided on the outer edge of the isolation plate close to the tube body, which can also achieve a rapid heat dissipation effect.

[0021] Beneficial Effects

[0022] By providing a heat conduction channel, the heat dissipation effect of the drive control device is improved and the working stability is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a drive control device provided by the present invention;

[0024] Figure 2 It is an enlarged schematic diagram of the local position of the drive control device;

[0025] Figure 3(a) is a front view of the support base, and Figure 3(b) is a top view of the support base;

[0026] FIG4( a ) is a top view of the guide member, and FIG4( b ) is a bottom view of the guide member;

[0027] FIG5(a) is a front view of another support base according to an embodiment of the present invention, and FIG5(b) is a top view of another support base according to an embodiment of the present invention;

[0028] FIG6(a) is a top view of another flow guide member according to an embodiment of the present invention, and FIG6(b) is a bottom view of another flow guide member according to an embodiment of the present invention;

[0029] Figure 7 It is a bottom view of the shell member according to an embodiment of the present invention.

[0030] Wherein: 100-shell component, 110-tube body, 111-inlet, 120-isolation plate, 121-second communication channel, 122-heat dissipation channel, 130-circuit board mounting portion, 140-central axis portion, 141-third communication channel, 150-end cover, 160-upper cavity, 161-inner cavity, 162-outer cavity, 170-lower cavity, 171-isolation space, 200 driving component, 210-stator, 220-rotor, 230-rotating shaft, 240-mounting seat, 300-harmonic reduction assembly, 3 10-fixed part, 320-wave generator, 330-flexible wheel, 340-rigid wheel, 400-output component, 410-flange, 500-control circuit board, 600-hollow tube, 700 / 700A-support, 710-first connecting channel, 720-fourth connecting channel, 730-step part, 740-radial through groove, 750-inner step hole, 760-notch, 770-radial through groove, 800 / 800A-flow guide, 810 / 810A-main body, 820 / 820A-blade. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0032] like Figure 1 As shown, an embodiment of the drive control device provided by the present invention can be used as a joint drive device of a robot, including a shell component 100, a drive component 200, a harmonic reduction assembly 300 and an output component 400. The shell component 100 is an inner and outer cylindrical structure, including a tube body portion 110 as an outer wall portion and a central axis portion 140 as an inner wall portion; a radially arranged isolation plate 120 is arranged between the tube body portion 110 and the central axis portion 140, and divides the inner cavity of the shell component 100 into an upper cavity 160 and a lower cavity 170; an end cover 150 is fixedly connected to the lower end of the tube body portion 110, and the end cover 150 has an opening 151, and the opening 151 connects the lower cavity 170 with the external environment of the end cover 150.

[0033] The driving component 200 is arranged in the upper cavity, and includes a stator 210 and a rotor 220, and the stator 210 is adapted to the rotor 220. The stator 210 is fixed to the housing component 100 through a mounting seat 240. The rotor 220 is fixedly connected or integrally structured with the rotating shaft 230, and the rotating shaft 230 can rotate relative to the housing component 100.

[0034] The harmonic reduction assembly 300 includes a fixed part 310, a wave generator 320, a flexible wheel 330 and a rigid wheel 340. The fixed part 310 is fixedly connected to the rotating shaft 230 or is an integral structure, and the wave generator 320 cooperates with the fixed part. The wave generator 320, the flexible wheel 330 and the rigid wheel 340 are combined to achieve a precise reduction effect. The output component 400 includes a flange 410,

[0035] The flange 410 is fixedly connected to the rigid wheel 340. The flange 410 is used for fixed connection with an external execution unit.

[0036] As an optional structure, the flexible wheel 330 of the harmonic reduction assembly 300 or the mounting seat 240 of the driving component 200 divides the upper cavity 160 into an inner cavity 161 and an outer cavity 162. The cavity wall of the inner cavity 161 includes at least part of the tube wall of the rotor 220 and at least part of the tube wall of the central axis portion 140 of the housing component 100; the outer cavity includes at least part of the tube wall of the tube body portion 110.

[0037] As an optional structure, the hollow member 600 serves as a cover member covering the central area and can be fixedly connected to the flange 410 as a part of the output component, or can be fixedly connected to the central axis portion 140 as a part of the shell component.

[0038] like Figure 2 As shown in FIG. 3 and FIG. 4 , in this specific embodiment, a support member 700 and a flow guide member 800 are also included. The support member 700 is sleeved on the central axis 140 and fixedly connected to the shell member 100. The support member 700 is provided with a first connecting channel 710, and the isolation plate 120 has a second connecting channel 121. The first connecting channel 710 connects the inner cavity 161 with the second connecting channel 121, and the second connecting channel 121 connects the lower cavity 170. The flow guide member 800 is provided on the rotating shaft 230 and can rotate together with the rotating shaft 230. The central axis portion 140 is provided with a third connecting channel 141, and the third connecting channel 141 connects the inner cavity 161 of the upper cavity 160 with the external environment of the central axis portion 140.

[0039] The embodiment of the present invention provides a technical solution, in which the first connecting channel 710, the second connecting channel 121, and the third connecting channel 141 constitute a fluid circulation passage. Through the rotation of the guide member, the heat in the inner cavity 161 can be quickly transferred to the external environment, thereby improving the heat dissipation performance of the inner cavity of the drive control device and improving the stability of the product.

[0040] As a further extension of the technical solution, the support member 700 is further provided with a fourth communication channel 720. The fourth communication channel 720 is communicated with the first communication channel 710, and the fourth communication channel 720 is communicated with the outer cavity 162 of the upper cavity 160. This solution can improve the heat dissipation performance of the outer cavity of the drive control device and further improve the stability of the product.

[0041] As a specific embodiment, as shown in FIG3 , the support member 700 is a columnar structure with a central hole, and the outer edge includes a step portion 730. The support member 700 is sleeved on the central axis portion 140 and abuts against the isolation plate 120. The columnar structure is provided with four radial through grooves 740 symmetrically arranged along the axis, and the columnar structure is provided with an inner step hole 750 at the bottom, and the inner step hole 750 covers the third connecting channel 141. The radial through groove 740 is connected to the inner step hole 750. Part of the radial through groove 740 cooperates with the inner step hole 750 as the first connecting channel 710, and part of the radial through groove 740 serves as the fourth connecting channel 720. This structural setting is simple to process, and the fluid channel is relatively smooth.

[0042] As shown in FIG. 4 , the guide member 800 is specifically an annular cylindrical structure formed by metal stamping, including a main body 810 and a plurality of blades 820 formed by stamping and bending from the main body 810 toward the center. The main body 810 is fixed to the inner wall surface of the rotating shaft 230 by laser welding. When the drive control device is working, the rotating shaft 230 drives the blades 820 to achieve the effect of heat dissipation. The structure is simple to set and process, and does not require additional power or control.

[0043] As shown in FIG5 , as an alternative to the support seat, the support member 700A is a columnar structure with a central hole, and the outer edge includes a step portion 730A. The support member 700A is sleeved on the central axis portion 140 and abuts against the isolation plate 120. Four axial notches 760 are symmetrically arranged along the axis in the radial direction of the central hole, and a radial through groove 770 is opened at the bottom of the columnar structure, and the radial through groove 770 covers the third connecting channel 141. The axial notch 760 is connected to the radial through groove 770. The axial notch 760 serves as the first connecting channel 710, and the radial through groove 770 serves as the fourth connecting channel 720.

[0044] As shown in FIG6 , as an alternative to the guide, the guide 800A is specifically a thin sheet structure formed by metal stamping, including a circular main body 810A extending radially, and a plurality of blades 820A formed by stamping and bending the main body 810A in the axial direction. The main body 810A is fixed to the end wall of the rotating shaft 230 by laser welding. When the drive control device is working, the rotating shaft 230 drives the blades 820A, which also achieves the effect of heat dissipation.

[0045] As a further extension of the above technical solution, the blade 820 / 800A has a guide angle (not shown in the figure), which can guide the air flow in the upper cavity 160 to the lower cavity 170 .

[0046] As a further extension of the above technical solution, the tube body 110 is provided with a plurality of inlets 111, which are spaced apart along the circumference of the tube body 110, and the inlets 111 connect the outer cavity 162 with the external environment of the tube body 110. In this way, another fluid flow passage is formed in the outer cavity to quickly remove heat.

[0047] like Figure 7 Shown and combined Figure 1 As a further extension of the technology of the present invention, the drive control device also includes a control circuit board 500, which is arranged in the lower cavity 170. The isolation plate 120 has a plurality of protrusions protruding outward on one side facing the lower cavity 170, and the protrusions serve as the circuit board mounting portion 130. The circuit board 500 can be fixed to the circuit board mounting portion 130 by fasteners, and at least part of the protrusions extend radially and are not connected to the tube body 110. Along the axial direction of the tube body 110, the projection of the control circuit board 500 does not cover or does not completely cover the projection of the heat dissipation channel 122. In this way, an open isolation space 171 is formed between the control circuit board 500 and the cavity wall of the isolation plate 120, so as to prevent the heat in the upper cavity from being directly transferred to the control circuit board 500 through the isolation plate 120, thereby affecting the working stability of the control circuit board 500. At the same time, the air fluid flowing into the lower cavity from the second connecting channel 121 can take out part of the heat after passing through the isolation space 171.

[0048] As a further extension of the above technical solution, a plurality of heat dissipation channels 122 are provided on the outer edge of the isolation plate 120 close to the tube body 110 , which can also achieve a rapid heat dissipation effect.

Claims

1. A drive control device, characterized in that: It includes a housing component, a driving component, a harmonic reduction component and an output component; The shell component is an inner and outer cylindrical structure, including a tube body portion as an outer wall portion and a central axis portion as an inner wall portion, a radially arranged partition plate is arranged between the tube body portion and the central axis portion, and divides the inner cavity of the shell component into an upper cavity and a lower cavity, an end cap is fixedly connected to the lower end of the tube body portion, and the end cap has an opening, and the opening communicates with the lower cavity and the outside of the end cap; The driving component is arranged in the upper cavity, and includes a stator and a rotor. The stator and the rotor are adapted to each other, and the stator is fixed to the housing component through a mounting seat. The rotor is fixedly connected to the rotating shaft or is an integral structure, and the rotating shaft can rotate relative to the housing component. The harmonic reduction assembly includes a fixed part, a wave generator, a flexible wheel and a rigid wheel. The fixed part is fixedly connected to the rotating shaft or has an integrated structure. The wave generator cooperates with the fixed part, and the combination of the wave generator, flexible wheel and rigid wheel realizes the precise deceleration effect; The output component comprises a flange, which is fixedly connected to the rigid wheel, and the flange is used for fixedly connecting to an external execution unit.

2. The device according to claim 1, characterized in that The mounting seat of the flexible wheel or driving component of the harmonic reduction assembly divides the upper cavity into an inner cavity and an outer cavity, the cavity wall of the inner cavity includes part of the tube wall of the rotor and part of the tube wall of the central axis of the shell component; the outer cavity includes part of the tube wall of the tube body.

3. The device according to claim 1, characterized in that The hollow part serves as a cover covering the central area, is fixedly connected to the flange as a part of the output component, and is fixedly connected to the central shaft as a part of the shell component.

4. The device according to claim 1, characterized in that It also includes a support member and a guide member, the support member is sleeved on the central axis and fixedly connected to the shell member, the support member is provided with a first connecting channel, the isolation plate has a second connecting channel, the first connecting channel connects the inner cavity with the second connecting channel, and the second connecting channel connects the lower cavity; the guide member is arranged on the rotating shaft and can rotate with the rotating shaft; the central axis is provided with a third connecting channel, the third connecting channel connects the inner cavity of the upper cavity with the external environment of the central axis.

5. The device according to claim 4, characterized in that The support member is further provided with a fourth communication channel, the fourth communication channel is communicated with the first communication channel, and the fourth communication channel is communicated with the outer cavity of the upper cavity.

6. The device according to claim 4, characterized in that The support member is a columnar structure with a central hole, and the outer edge includes a step portion. The support member is sleeved on the central axis and abuts the isolation plate. The columnar structure is radially provided with four axially symmetrical radial through grooves, and the columnar structure is provided with an inner step hole at the bottom. The inner step hole covers the third connecting channel, and the radial through groove is connected to the inner step hole. Part of the radial through groove cooperates with the inner step hole as the first connecting channel, and part of the radial through groove serves as the fourth connecting channel.

7. The device according to claim 4, characterized in that The guide piece is specifically an annular cylindrical structure formed by metal stamping, including a main body, and a plurality of blades formed by stamping and bending from the main body toward the center. The main body and the inner wall surface of the rotating shaft are fixed by laser welding, and the rotating shaft drives the blades when the driving control device is working.

8. The device according to claim 7, characterized in that The blade has a guide angle, and the guide angle can guide the air flow in the upper cavity to the lower cavity.

9. The device according to claim 1, characterized in that The tube body is provided with a plurality of flow inlets which are distributed at intervals along the circumference of the tube body, and the flow inlets communicate with the outer cavity and the outside of the tube body.

10. The device according to claim 1, characterized in that The drive control device also includes a control circuit board, which is arranged in the lower cavity. The isolation plate has a plurality of protrusions protruding outward on the side facing the lower cavity. The protrusions serve as circuit board mounting portions. The circuit board is fixed to the circuit board mounting portions by fasteners. Some of the protrusions extend radially and are not connected to the tube body. Along the axial direction of the tube body, the projection of the control circuit board does not cover the projection.

11. The device according to claim 10, characterized in that A plurality of heat dissipation channels are provided on the outer edge of the isolation plate close to the tube body.

Images