High-density power motor module applied to robot

Abstract

The high-density power motor module comprises a rotor assembly and a heat dissipation stator assembly, the heat dissipation stator assembly comprises a stator inner ring, an injection molding stator and a fin radiator, the injection molding stator is of an annular structure, and the stator inner ring is tightly attached to the inner circle side wall of the injection molding stator; the injection-molded stator and the fin radiator are integrally injection-molded together; the rotor assembly comprises a rotor support and a plurality of magnetic steel blocks, a magnetic steel fixing part is arranged on the rotor support, an annular magnetic steel groove is formed in the magnetic steel fixing part, the magnetic steel blocks are contained in the annular magnetic steel groove, and the injection molding stator is arranged on the annular magnetic steel groove in a covering mode. According to the motor module, the injection molding stator covers the annular magnetic steel groove with the magnetic steel block, so that the magnetic steel block of the rotor and the injection molding stator are arranged in the axial direction, and compared with a traditional motor with a rotor installed in a radial space, the radial space can be greatly reduced, and the size of the motor module is reduced. The heat dissipation capability of the robot power motor module can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of frameless motors, and in particular to a high-density power motor module applied to robots. Background Art

[0002] With the rapid development of the robot industry, the requirements for humanoid joint motor modules are getting higher and higher. They need to have high power density, low inertia and smooth control capabilities to ensure the safety of human-machine interaction. At the same time, most traditional joint motors are inner-rotating motor structures, and the inner-rotating rotor needs to be connected to the output shaft to connect to the reducer. If an outer-rotating motor is used, it is necessary to add a shell outside the rotor for fixing, and the module space is large. And most of the motor modules on the joints are closed structures with poor heat dissipation performance. Therefore, how to design a new high-power, small-sized and heat-compatible axial power motor module is a problem that technicians in this field need to consider. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a high-density power motor module for robots.

[0004] The objective of the present invention is achieved through the following technical solutions: A high-density power motor module for a robot comprises: a rotor assembly and a heat dissipation stator assembly, wherein the heat dissipation stator assembly is arranged on the rotor assembly; The heat dissipation stator assembly comprises a stator inner ring, an injection-molded stator and a fin heat sink, wherein the injection-molded stator is a circular ring structure, the stator inner ring is tightly attached to the inner circle side wall of the injection-molded stator, and the injection-molded stator and the fin heat sink are integrally injection-molded; The rotor assembly includes a rotor bracket and a plurality of magnetic steel blocks. The rotor bracket is provided with a magnetic steel fixing portion, and the magnetic steel fixing portion is provided with an annular magnetic steel groove. Each of the magnetic steel blocks is respectively accommodated in the annular magnetic steel groove. The injection molded stator cover is provided on the annular magnetic steel groove, and the injection molded stator is inductively connected to each of the magnetic steel blocks.

[0005] In one of the embodiments, a bearing fixing portion is provided on the rotor bracket, the bearing fixing portion is connected to the magnetic steel fixing portion, and the bearing fixing portion has a bearing fixing groove, and the stator inner ring is provided on the bearing fixing groove.

[0006] In one embodiment, the rotor assembly further includes a rotor bearing, which is disposed on the rotor support and embedded in the bearing fixing groove.

[0007] In one embodiment, the inner side of the rotor bearing is attached to the inner wall of the bearing fixing groove, the outer side of the rotor bearing is attached to one side of the stator inner ring, and the other side of the stator inner ring is attached to the injection molded stator.

[0008] In one embodiment, the stator inner ring includes an inner ring body and a limiting ring, the outer side surface of the inner ring body is attached to the inner side surface of the injection-molded stator, the limiting ring is arranged on the inner ring body, and the limiting ring and the bearing fixing groove together form a bearing fixing area, and the top of the rotor bearing abuts against the limiting ring, so that the limiting ring limits the rotor bearing in the bearing fixing area.

[0009] In one of the embodiments, the fin heat sink includes a plurality of heat sinks, each of the heat sinks is disposed on the injection-molded stator, and each of the heat sinks and the injection-molded stator are injection-molded into an integral structure.

[0010] In one of the embodiments, a plurality of heat dissipation slots are provided on the injection-molded stator, and each of the heat sinks is disposed in a corresponding heat dissipation slot.

[0011] In one embodiment, the heat sink has an inner arc surface and an outer arc surface, the inner arc surface of the heat sink is tangent to the inner circle of the injection-molded stator, the outer arc surface of the heat sink is tangent to the outer circle of the injection-molded stator, and the radius of the inner arc of the heat sink is smaller than the radius of the outer arc of the heat sink, and the thickness of the heat sink gradually increases from the center of the inner arc to the center of the outer arc surface.

[0012] In one embodiment, the heat sinks together form an annular heat dissipation structure, and the heat sinks are arranged in a radial annular shape.

[0013] In one embodiment, the high-density power motor module further includes a gear reduction box, the gear reduction box is mounted on the stator inner ring, and the gear reduction box is connected to the rotor bracket; The gear reduction box includes an inner gear ring, a gear set and a planet carrier. The inner gear ring is connected to the inner ring of the stator, the gear set is meshed with the inner gear ring, and the gear set is also connected to the rotor bracket and the planet carrier respectively.

[0014] The advantages and beneficial effects of the present invention compared to the prior art are as follows: 1. The present invention is a high-density power motor module applied to robots. By setting the injection-molded stator cover on the annular magnetic steel groove with magnetic steel blocks, the magnetic steel blocks of the rotor and the injection-molded stator are arranged in the axial direction. Compared with the motor with the rotor installed in the traditional radial space, the radial space can be greatly reduced and the volume of the motor module can be reduced. And by setting the injection-molded stator and rotor magnetic steel in the axial direction, the air gap can be greatly reduced, the power can be increased, and the problem of coaxiality of the traditional frameless motor installation can be avoided, so that the air gap of the stator and rotor assembly of the frameless motor can be guaranteed, and the process manufacturability and performance can be improved. In addition, by setting an injection-molded fin heat sink, the heat sink is directly embedded in the injection-molded stator through the encapsulation process, and the coil heat is directly conducted from the solid to the heat sink to achieve rapid heat dissipation, thereby effectively improving the heat dissipation capacity of the robot power motor module.

[0015] 2. The high-density power motor module of the present invention fixes the inner ring of the motor stator directly to the inner ring of the gear reducer, the rotor output shaft and the sun gear of the gear set form the input end through knurling interference fit, the planetary gears of the gear set and the planetary carrier form the output end, and the rotor bearing structure is directly embedded in the inner ring of the stator. It can make full use of the space inside the stator, further reduce the volume of the module, and provide sufficient space for the robot joint space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of a high-density power motor module applied to a robot according to an embodiment of the present invention; Figure 2 for Figure 1 The exploded structure diagram of the high-density power motor module applied to the robot is shown; Figure 3 for Figure 1 A cross-sectional view of a high-density power motor module is shown; Figure 4 for Figure 1 A cross-sectional view of a high-density power motor module from another perspective is shown; Figure 5 for Figure 1 The structural diagram of the fin heat sink of the high-density power motor module shown; Figure 6 for Figure 1 The structural diagram of the heat dissipation stator assembly of the high-density power motor module shown; Figure 7 for Figure 6 A structural diagram of a motor stator of a heat dissipation stator assembly shown; The reference numerals are as follows: 10. Heat dissipation stator assembly; 11. Stator inner ring; 111. Inner ring body; 112. Limiting ring; 12. Injection molded stator; 121. Injection molded layer; 122. Motor stator; 123. Stator fixing frame; 123a. First fixing plate; 123b. Second fixing plate; 124. Stator sleeve; 125. Stator teeth; 126. Stator coil; 127. Positioning pin; 13. Fin heat sink; 131. Heat sink; 20. Rotor assembly; 21. Rotor bracket; 22. Magnetic steel block; 23. Magnetic steel fixing part; 231. Annular magnetic steel groove; 24. Bearing fixing part; 241. Bearing fixing groove; 25. Rotor bearing; 30. Gear reduction box; 31. Inner gear ring; 32. Planet carrier; 33. Sun gear; 34. Planet gear. DETAILED DESCRIPTION

[0017] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0018] See also Figure 1 and Figure 2 A high-density power motor module for a robot includes: a heat dissipation stator assembly 10 and a rotor assembly 20, wherein the heat dissipation stator assembly 10 is arranged on the rotor assembly 20.

[0019] See also Figure 2 The heat dissipation stator assembly 10 includes a stator inner ring 11, an injection molded stator 12 and a fin heat sink 13. The injection molded stator 12 is a circular ring structure. The stator inner ring 11 is tightly attached to the inner circle side wall of the injection molded stator 12. The injection molded stator 12 and the fin heat sink 13 are integrally injection molded. It should be noted that the injection molded stator 12 has a stator winding embedded inside and is integrally injection molded with the fin heat sink 13 on the outside. After the three-phase alternating current is passed through the winding of the injection molded stator 12, a rotating magnetic field is generated, which interacts with the permanent magnetic field of the rotor magnet to form an electromagnetic torque. The injection molding material has both insulation and mechanical strength, fixes the winding and fills the gap to reduce the vibration of the winding. In this embodiment, the injection molding material can be selected from epoxy resin or modified nylon. It is tightly attached to the inner circle side wall of the injection molded stator 12 to form a closed magnetic circuit on the stator side. The fin heat sink 13 is integrally injection molded with the injection molded stator 12, and the fins extend radially or circumferentially to increase the heat dissipation surface area. The heat generated by the stator winding is directly transferred to the fins through the injection molding material, and the heat is quickly conducted out by solid heat conduction, and then dissipated by natural convection or forced air cooling.

[0020] See also Figure 2The rotor assembly 20 includes a rotor support 21 and a plurality of magnetic steel blocks 22. The rotor support 21 is provided with a magnetic steel fixing portion 23. The magnetic steel fixing portion 23 is provided with an annular magnetic steel groove 231. Each magnetic steel block 22 is respectively accommodated in the annular magnetic steel groove 231. The injection molded stator 12 is covered on the annular magnetic steel groove 231 so that the magnetic steel blocks 22 of the rotor and the injection molded stator 12 are arranged in the axial direction, and the injection molded stator 12 is inductively connected with each magnetic steel block 22. It should be noted that the rotor support 21 is used to position and fix the magnetic steel block 22; the magnetic steel block 22 is used to be embedded in the annular magnetic steel groove 231 to form an axially magnetized permanent magnet array, which interacts with the alternating magnetic field generated by the stator winding through axial magnetization (the direction of the magnetic flux is along the axial direction of the motor), and drives the rotor to rotate according to the law of electromagnetic induction; the magnetic steel fixing portion 23 is used to fix the magnetic steel block 22. The magnetic steel block 22 serves as the source of the rotor magnetic field, replacing the excitation winding of the traditional radial motor, reducing copper loss and improving efficiency; the axially arranged magnetic steel block 22 is axially opposite to the stator winding, and the air gap is only the axial distance between the stator and the rotor, thereby shortening the air gap path. Compared with the radial structure (the air gap is the radius difference), the air gap length can be reduced by more than 50%, significantly reducing the magnetic resistance, improving the air gap magnetic density, and thus increasing the motor torque density.

[0021] In this way, by setting the injection molded stator 12 cover on the annular magnetic steel groove 231 with the magnetic steel block 22, so that the magnetic steel block 22 of the rotor and the injection molded stator 12 are arranged in the axial direction, compared with the traditional motor with the rotor installed in the radial space, the radial space can be greatly reduced and the volume of the motor module can be reduced. And by setting the injection molded stator 12 and the rotor magnetic steel in the axial direction, the air gap can be greatly reduced, the power can be increased, and the problem of coaxiality of the traditional frameless motor installation can be avoided, so that the air gap of the stator and rotor assembly of the frameless motor can be guaranteed, and the process manufacturability and performance can be improved. In addition, by setting the injection molded fin heat sink 13, the heat sink 131 is directly embedded in the injection molded stator 12 through the encapsulation process, and the coil heat is directly conducted from the solid to the radiator to achieve rapid heat dissipation, thereby effectively improving the heat dissipation capacity of the robot power motor module.

[0022] In traditional radial flux frameless motors, the stator and rotor magnetic fields are coupled radially, and the air gap is the radius difference. The coaxiality needs to be strictly controlled, otherwise the uneven air gap will cause torque pulsation and reduced efficiency. However, this motor module adopts an axial flux design, with the stator and rotor facing each other axially, and the air gap is the distance between the two planes, which greatly reduces the difficulty and cost of assembly, and runs more smoothly with higher precision. The injection molded stator 12 and the fin heat sink 13 are integrally formed to reduce the number of parts, simplify the process flow, and improve production consistency; See also Figure 2, the rotor support 21 is provided with a bearing fixing portion 24, the bearing fixing portion 24 is connected to the magnetic steel fixing portion 23, and the bearing fixing portion 24 has a bearing fixing groove 241, and the stator inner ring 11 is arranged on the bearing fixing groove 241. The rotor assembly 20 also includes a rotor bearing 25, the rotor bearing 25 is arranged on the rotor support 21, and the rotor bearing 25 is embedded in the bearing fixing groove 241. It should be noted that the bearing fixing portion 24 is used to fix the rotor bearing 25, and the rotor bearing 25 is clamped between the stator inner ring 11 and the side wall of the bearing fixing groove 241, so as to limit its radial displacement.

[0023] The inner side of the rotor bearing 25 is attached to the inner side wall of the bearing fixing groove 241, the outer side of the rotor bearing 25 is attached to one side of the stator inner ring 11, and the other side of the stator inner ring 11 is attached to the injection molded stator 12. In this way, by setting a mutual fitting and clamping relationship, the rotor bearing 25 is fixed more firmly, limiting its radial displacement, and improving reliability.

[0024] See also Figure 3 and Figure 4 , the stator inner ring 11 comprises an inner ring body 111 and a stop ring 112, the outer side of the inner ring body 111 is attached to the inner side of the injection molded stator 12, the stop ring 112 is arranged on the inner ring body 111, and the stop ring 112 and the bearing fixing groove 241 together form a bearing fixing area, the top of the rotor bearing 25 abuts on the stop ring 112, so that the stop ring 112 limits the rotor bearing 25 in the bearing fixing area. It should be noted that the inner ring body 111 is used to be attached to the stator assembly and also used to fix the stop ring 112; the stop ring 112 is an annular protrusion, which can divide the inner ring body 111 into a bearing area and a gear area, which are used to fix the rotor bearing 25 and the gear set respectively, and the top of the rotor bearing 25 abuts on the bottom surface of the stop ring 112, and the bottom is embedded in the bearing fixing groove 241 to form an axial limit.

[0025] See also Figure 1~Figure 5, the fin heat sink 13 includes a plurality of heat sinks 131, each of the heat sinks 131 is arranged on the injection molded stator 12, and each of the heat sinks 131 and the injection molded stator 12 are injection molded into an integral structure. It should be noted that the heat sink 131 can achieve heat dissipation. A plurality of heat sink grooves are provided on the injection molded stator 12, and each of the heat sink 131 is respectively arranged in a corresponding heat sink groove. In this way, the heat sink 131 can be fixed by setting the heat sink grooves. The heat sinks 131 together constitute an annular heat dissipation structure, and the heat sinks 131 are arranged in a radial annular shape. By setting an annular heat dissipation structure and a radially arranged structure, the heat dissipation effect can be made more obvious and the heat dissipation capacity can be stronger.

[0026] For further information, see Figure 5 The heat sink 131 has an inner arc surface and an outer arc surface. The inner arc surface of the heat sink 131 is tangent to the inner circle of the injection molded stator 12, and the outer arc surface of the heat sink 131 is tangent to the outer circle of the injection molded stator 12. The radius of the inner arc of the heat sink 131 is smaller than the radius of the outer arc of the heat sink 131. The thickness of the heat sink 131 gradually increases from the center of the inner arc to the center of the outer arc surface. It should be noted that the thickness of the heat sink 131 gradually increases from the center of the inner arc to the center of the outer arc, forming a wedge-shaped structure, so that prestress is formed inside the heat sink 131 to enhance structural stability. The heat sink 131 is radially distributed with the axis of the injection molded stator 12 as the center, and air channels are formed between adjacent heat sinks 131 to promote air convection and enhance heat dissipation efficiency. The thickness gradient design allows the heat sink 131 to have a gradient distribution of stress along the thickness direction when it is subjected to thermal stress or mechanical vibration, thereby avoiding cracking or deformation caused by local stress concentration.

[0027] See also Figure 2~Figure 4 The high-density power motor module also includes a gear reduction box 30, which is installed on the stator inner ring 11 and connected to the rotor bracket 21; it should be noted that the inner gear ring 31 is directly installed on the stator inner ring 11 to ensure that the two maintain high-precision positioning in the radial and axial directions; the gear reduction box 30 is connected to the rotor bracket 21, so that the gear reduction box 30 can provide the driving force of the motor.

[0028] The gear reduction box 30 includes an inner gear ring 31, a gear set and a planet carrier 32. The inner gear ring 31 is connected to the stator inner ring 11, and the gear set is meshed with the inner gear ring 31. The gear set is also connected to the rotor bracket 21 and the planet carrier 32 respectively. The inner gear ring 31 serves as a fixed ring for the planetary gear 34 to provide an internal meshing tooth profile, guide the planetary gear to revolve, bear the radial force and tangential force of the planetary gear, and ensure smooth transmission. The gear set is used to receive the torque of the rotor bracket 21, drive the rotation of the planetary gear, mesh with the sun gear and the inner gear ring 31, and realize power splitting and deceleration.

[0029] The gear set includes a sun gear 33 and a plurality of planetary gears 34, the outer teeth of the sun gear 33 are respectively meshed with the planetary gears 34, and the outer teeth of the planetary gears 34 are also respectively meshed with the inner gear ring 31, and the rotor support 21 includes a rotor output shaft and a rotor body, the rotor output shaft is arranged on the rotor body, the rotor output shaft is connected with the sun gear 33, and the planetary support 32 is provided with a plurality of planetary output shafts, each of which is respectively connected with each of the planetary gears 34 in a one-to-one correspondence; the rotor output shaft is installed in the center hole of the sun gear 33, and each of the planetary output shafts is respectively installed in the center hole of each of the planetary gears 34 in a one-to-one correspondence. It should be noted that the sun gear 33 is rigidly connected to the rotor output shaft of the rotor support 21 through the center hole to ensure loss-free transmission of torque. Each planetary gear 34 is connected to the planetary output shaft on the planetary support 32 through the center hole, allowing the planetary gear 34 to revolve around the sun gear 33 while rotating. The outer teeth of the sun gear 33 form an external meshing with the inner teeth of the plurality of planetary gears 34 to achieve primary reduction; the outer teeth of the planetary gears 34 form an internal meshing with the inner teeth of the inner gear ring 31 to form a closed planetary gear 34 wheel transmission chain to achieve secondary reduction.

[0030] In this way, by directly fixing the inner ring 11 of the motor stator to the inner ring 31 of the gear reducer 30, the rotor output shaft and the sun tooth 33 of the gear set form an input end through knurling interference fit, the planetary teeth 34 of the gear set and the planetary carrier 32 form the output end, and the rotor bearing 25 structure is directly embedded in the inner ring 11 of the stator, which can make full use of the space inside the stator, further reduce the module volume, and provide sufficient space for the robot joint space.

[0031] See also Figure 3 and Figure 4, the outer teeth of each planetary gear 34 are also meshed with the inner gear ring 31 respectively, the limiting ring 112 divides the inner ring body 111 into a bearing area and a gear area, each planetary gear 34 is respectively arranged on the gear area, and the planetary gear 34 is also abutted against the limiting ring 112, the height of the planetary gear 34 is equal to the height of the gear area of ​​the inner ring body 111, and the height of the rotor bearing 25 is equal to the height of the bearing area of ​​the inner ring body 111. It should be noted that the bearing area is used to install the rotor bearing 25 and support the radial and axial loads of the rotor shaft; the gear area is used to carry the planetary gear 34, and the axial positioning is provided by the limiting ring 112; the end face of the planetary gear 34 and the contact surface of the limiting ring 112 form an axial limit to prevent the planetary gear 34 from axial movement during high-speed rotation and avoid tooth surface wear caused by gear meshing offset. The total height (tooth top to end face) of the planetary gear 34 is equal to the axial depth of the gear area, ensuring that the planetary gear 34 is fully embedded in the gear area, avoiding interference with the tooth top of the inner gear ring 31, ensuring that the meshing depth of the planetary gear 34 and the inner gear ring 31 is constant, avoiding the concentration of tooth surface contact stress caused by axial movement, and extending the life of the gear; the total height of the rotor bearing 25 matches the axial depth of the bearing area, ensuring uniform bearing preload, reducing vibration, and ensuring that the preload of the rotor bearing 25 is stable, reducing vibration and noise caused by changes in bearing clearance.

[0032] See also Figure 4 , Figure 6 and Figure 7 The injection molded stator 12 includes an injection molded layer 121 and a plurality of motor stators 122 disposed in the injection molded layer 121. In one of the motor stators 122, the motor stator 122 includes a stator fixing frame 123, a stator sleeve 124, stator teeth 125 and a stator coil 126. The stator sleeve 124 is disposed on the stator fixing frame 123. A receiving cavity is opened in the middle and lower part of the stator sleeve 124. The stator teeth 125 are placed in the receiving cavity. The stator coil 126 is wound around the outside of the stator sleeve 124. It should be noted that the stator sleeve 124 bears the electromagnetic force of the stator teeth 125 and the thermal stress of the coil, and the stator fixing frame 123 disperses the stress to the entire injection molding layer 121 through a rigid connection to avoid local deformation; the magnetic poles of the stator teeth 125 and the stator sleeve 124 form a closed magnetic circuit to reduce leakage magnetic flux and increase magnetic flux density; when the coil is energized, an alternating magnetic field is generated, which is transferred to the stator teeth 125 through the stator sleeve 124 to drive the rotor to rotate; the heat generated by the copper loss and iron loss of the coil is transferred to the injection molding layer 121 through the heat conductive structure of the stator sleeve 124, and finally the heat is dissipated by the fin heat sink 13.

[0033] See also Figure 4 and Figure 6The stator fixing frame 123 includes a first fixing plate 123a and a second fixing plate 123b, and the first fixing plate 123a and the second fixing plate 123b are respectively arranged on the two end surfaces of the stator sleeve 124. The first fixing plate 123a and the second fixing plate 123b are both fan-shaped structures, and each of the first fixing plates 123a and the second fixing plate 123b is arranged in a circular ring on the injection molded stator 12. It should be noted that each of the first fixing plates 123a is arranged in a ring, and the first fixing plates 123a and the second fixing plates 123b are both fan-shaped structures. The inner arc surfaces of each of the first fixing plates 123a are connected in sequence to form an inner circle; the outer arc surfaces of each of the first fixing plates 123a are connected in sequence to form an outer circle. The fixing plate bears the axial force (such as the impact force when the motor starts) and radial force (such as the centrifugal force caused by the eccentricity of the rotor) of the stator sleeve 124, and transmits the stress to the injection layer 121 through the bolt preload force to avoid deformation of the end surface of the stator sleeve 124. The injection molding pressure makes the fixing plate fit closely with the injection molding layer 121; and the surfaces of the first fixing plate 123a and the second fixing plate 123b have a chemical nickel plating layer, so as to enhance the wettability with the injection molding material and reduce the interface porosity.

[0034] For further information, see Figure 6 , the injection molded stator 12 further includes a plurality of positioning pins 127, each of which is arranged on the stator inner ring 11, and a positioning hole is opened on the stator sleeve 124, and each of the positioning pins 127 is arranged on the stator inner ring 11 after being penetrated through the positioning hole one by one. It should be noted that the positioning pins 127 are embedded in the stator inner ring 11 through interference fit or press-fitting process to form a mechanical anchor; the positioning pins 127 bear the radial force (such as the centrifugal force caused by the rotor eccentricity) and tangential force (such as the torque when the motor starts) of the stator assembly, and resist deformation through the friction between the pin body and the inner ring. After the positioning pins 127 are inserted into the positioning holes, the radial and axial positioning of the stator sleeve 124 and the stator inner ring 11 is achieved through clearance fit; the contact area between the cylindrical surface of the positioning pins 127 and the positioning holes forms a support stiffness to resist the elastic deformation of the stator sleeve 124. The exposed part of the positioning pins 127 is covered by the injection molding material to form an anchoring effect. The positioning pins 127 are also used to provide mechanical positioning between the stator inner ring 11 and the stator sleeve 124 to ensure assembly accuracy.

[0035] The above-mentioned embodiments only express several embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A high-density power motor module for a robot, characterized in that: include: A rotor assembly and a heat dissipation stator assembly, wherein the heat dissipation stator assembly is arranged on the rotor assembly; The heat dissipation stator assembly comprises a stator inner ring, an injection-molded stator and a fin heat sink, wherein the injection-molded stator is a circular ring structure, the stator inner ring is tightly attached to the inner circle side wall of the injection-molded stator, and the injection-molded stator and the fin heat sink are integrally injection-molded; The rotor assembly includes a rotor bracket and a plurality of magnetic steel blocks. The rotor bracket is provided with a magnetic steel fixing portion, and the magnetic steel fixing portion is provided with an annular magnetic steel groove. Each of the magnetic steel blocks is respectively accommodated in the annular magnetic steel groove. The injection molded stator cover is provided on the annular magnetic steel groove, and the injection molded stator is inductively connected to each of the magnetic steel blocks.

2. The high-density power motor module for robots according to claim 1, characterized in that: The rotor bracket is provided with a bearing fixing part, the bearing fixing part is connected to the magnetic steel fixing part, and the bearing fixing part has a bearing fixing groove, and the stator inner ring is arranged on the bearing fixing groove.

3. The high-density power motor module for robots according to claim 2, characterized in that: The rotor assembly also includes a rotor bearing, which is arranged on the rotor bracket and embedded in the bearing fixing groove.

4. The high-density power motor module for robots according to claim 3, characterized in that: The inner side surface of the rotor bearing is attached to the inner side wall of the bearing fixing groove, the outer side surface of the rotor bearing is attached to one side surface of the stator inner ring, and the other side surface of the stator inner ring is attached to the injection molded stator.

5. The high-density power motor module for robots according to claim 3, characterized in that: The stator inner ring includes an inner ring body and a limiting ring, the outer side surface of the inner ring body is attached to the inner side surface of the injection-molded stator, the limiting ring is arranged on the inner ring body, and the limiting ring and the bearing fixing groove together form a bearing fixing area, and the top of the rotor bearing abuts against the limiting ring so that the limiting ring limits the rotor bearing in the bearing fixing area.

6. The high-density power motor module for robots according to claim 1, characterized in that: The fin heat sink includes a plurality of heat sinks, each of which is arranged on the injection-molded stator, and each of the heat sinks and the injection-molded stator are injection-molded into an integral structure.

7. The high-density power motor module for robots according to claim 6, characterized in that: The injection-molded stator is provided with a plurality of heat dissipation slots, and each of the heat dissipation fins is correspondingly arranged in one of the heat dissipation slots.

8. The high-density power motor module for robots according to claim 6, characterized in that: The heat sink has an inner arc surface and an outer arc surface, the inner arc surface of the heat sink is tangent to the inner circle of the injection-molded stator, the outer arc surface of the heat sink is tangent to the outer circle of the injection-molded stator, and the radius of the inner arc of the heat sink is smaller than the radius of the outer arc of the heat sink, and the thickness of the heat sink gradually increases from the center of the inner arc to the center of the outer arc surface.

9. The high-density power motor module for robots according to claim 6, characterized in that: The heat sinks together form an annular heat dissipation structure, and the heat sinks are arranged in a radial annular shape.

10. The high-density power motor module for robots according to claim 1, characterized in that: It also includes a gear reduction box, which is mounted on the stator inner ring and connected to the rotor bracket; The gear reduction box includes an inner gear ring, a gear set and a planet carrier. The inner gear ring is connected to the inner ring of the stator, the gear set is meshed with the inner gear ring, and the gear set is also connected to the rotor bracket and the planet carrier respectively.

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