High-density power motor module applied to robots

Abstract

The present invention discloses a high-density power motor module for use in robots, comprising a rotor assembly and a heat dissipation stator assembly. The heat dissipation stator assembly comprises a stator inner ring, an injection-molded stator, and a finned heat sink. The injection-molded stator is a circular ring structure, and the stator inner ring is tightly attached to the inner circular side wall of the injection-molded stator. The injection-molded stator and the finned heat sink are injection-molded together as one piece. The rotor assembly comprises 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 magnetic steel block is respectively accommodated in the annular magnetic steel groove, and the injection-molded stator cover is provided on the annular magnetic steel groove. The present invention arranges the injection-molded stator cover on the annular magnetic steel groove with the magnetic steel blocks so that the magnetic steel blocks of the rotor and the injection-molded stator are arranged in the axial direction. Compared with the traditional motor in which the rotor is installed in the radial space, the radial space can be greatly reduced, thereby reducing the volume of the motor module. The present invention can also effectively improve the heat dissipation capacity of the robot power motor module.

Description

Technical Field

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

[0002] With the rapid development of the robotics industry, the requirements for humanoid joint motor modules are becoming increasingly stringent. 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 internal-rotating motor structures, and the internal-rotating rotor needs to be connected to the output shaft to connect to the reducer. If an external-rotating motor is used, a casing must be added to the outside of the rotor for fixing, which takes up a large amount of module space. In addition, most motor modules on joints are closed structures with poor heat dissipation performance. Therefore, how to design a new high-power, compact, 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 object of the present invention is achieved through the following technical solutions:

[0005] 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;

[0006] The heat dissipation stator assembly includes a stator inner ring, an injection-molded stator and a fin heat sink. 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. The injection-molded stator and the fin heat sink are integrally injection-molded.

[0007] The rotor assembly includes a rotor bracket and multiple magnetic steel blocks. The rotor bracket is provided with a magnetic steel fixing part. The magnetic steel fixing part 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.

[0008] In one embodiment, 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.

[0009] In one embodiment, the rotor assembly further includes a rotor bearing, which is disposed on the rotor bracket and embedded in the bearing fixing groove.

[0010] 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.

[0011] 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.

[0012] In one embodiment, 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 is injection-molded into an integral structure.

[0013] In one embodiment, a plurality of heat dissipation slots are provided on the injection-molded stator, and each of the heat sinks is correspondingly disposed in one of the heat dissipation slots.

[0014] 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.

[0015] In one embodiment, the heat sinks together form an annular heat dissipation structure, and the heat sinks are arranged in a radial annular shape.

[0016] In one embodiment, the high-density power motor module further includes a gear reduction box, wherein the gear reduction box is mounted on the stator inner ring and connected to the rotor bracket;

[0017] The gear reduction box includes an inner ring gear, a gear set and a planet carrier. The inner ring gear is connected to the inner ring of the stator, the gear set is meshed with the inner ring gear, and the gear set is also connected to the rotor bracket and the planet carrier respectively.

[0018] The advantages and beneficial effects of the present invention compared to the prior art are as follows:

[0019] 1. The present invention is a high-density power motor module for robots. By arranging the injection-molded stator cover on the annular magnetic steel slot with the magnetic steel block, the magnetic steel block of the rotor and the injection-molded stator 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. In addition, by arranging 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, thereby ensuring the air gap of the stator and rotor assembly of the frameless motor and improving the process manufacturability and performance. In addition, by arranging an injection-molded fin heat sink and using the encapsulation process, the heat sink is directly embedded in the injection-molded stator, and the heat of the coil is directly conducted from the solid to the radiator, achieving rapid heat dissipation, thereby effectively improving the heat dissipation capacity of the robot power motor module.

[0020] 2. The high-density power motor module of the present invention fixes the inner ring of the motor stator directly to the inner gear ring of the gear reducer, forms the input end of the rotor output shaft and the sun gear of the gear set through knurling interference fit, and forms the output end of the planetary gears of the gear set and the planetary carrier. The rotor bearing structure is directly embedded in the inner ring of the stator, which can fully utilize the space inside the stator, further reduce the module volume, and provide sufficient space for the robot joint space. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of a high-density power motor module applied to a robot according to one embodiment of the present invention;

[0022] Figure 2 for Figure 1 The exploded structure diagram of the high-density power motor module used in robots is shown;

[0023] Figure 3 for Figure 1 A cross-sectional view of the high-density power motor module shown;

[0024] Figure 4 for Figure 1 A cross-sectional view of the high-density power motor module from another perspective is shown;

[0025] Figure 5 for Figure 1 The structural diagram of the fin heat sink of the high-density power motor module shown;

[0026] Figure 6 for Figure 1 The structural diagram of the heat dissipation stator assembly of the high-density power motor module shown;

[0027] Figure 7 for Figure 6 The structural diagram of the motor stator of the heat dissipation stator assembly shown;

[0028] The accompanying drawings are numerals as follows:

[0029] 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. Locating 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 ring gear; 32. Planet carrier; 33. Sun gear; 34. Planet gear. DETAILED DESCRIPTION

[0030] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0031] 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.

[0032] 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 side wall of the injection molded stator 12. The injection molded stator 12 and the fin heat sink 13 are injection molded together as one piece. It should be noted that the stator winding is embedded inside the injection molded stator 12, and the outside is injection molded as one piece with the fin heat sink 13. 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 winding vibration. In this embodiment, the injection molding material can be selected from epoxy resin or modified nylon. It is tightly attached to the inner side wall of the injection molded stator 12 to form a closed magnetic circuit on the stator side. The finned heat sink 13 is integrally molded with the injection-molded stator 12, with the fins extending radially or circumferentially to increase the heat dissipation surface area. Heat generated by the stator windings is directly transferred to the fins through the injection molding material, where it is quickly dissipated through solid thermal conductivity and then dissipated through natural convection or forced air cooling.

[0033] See also Figure 2 The 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 with the annular magnetic steel groove 231 so that the rotor magnetic steel blocks 22 and the injection molded stator 12 are arranged in the axial direction, and the injection molded stator 12 is inductively connected to each magnetic steel block 22. It should be noted that the rotor support 21 is used to position and fix the magnetic steel blocks 22; the magnetic steel blocks 22 are used to be embedded in the annular magnetic steel groove 231 to form an axially magnetized permanent magnet array. Through axial magnetization (the direction of the magnetic flux is along the axial direction of the motor), they interact with the alternating magnetic field generated by the stator winding, driving the rotor to rotate according to the law of electromagnetic induction; the magnetic steel fixing portion 23 is used to fix the magnetic steel blocks 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.

[0034] In this way, by placing 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, the radial space can be greatly reduced compared to the traditional motor with the rotor installed in the radial space, 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, thereby ensuring the air gap of the stator and rotor assembly of the frameless motor, improving the process manufacturability and performance. 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, achieving rapid heat dissipation, thereby effectively improving the heat dissipation capacity of the robot power motor module.

[0035] In traditional radial flux frameless motors, the stator and rotor magnetic fields are radially coupled, and the air gap is the radius difference. Strict coaxiality control is required, otherwise uneven air gaps will lead to torque pulsation and reduced efficiency. This motor module, however, uses an axial flux design, with the stator and rotor facing each other axially, and the air gap is the distance between the two planes. This significantly reduces assembly difficulty and cost, and allows for smoother operation and higher precision. The injection-molded stator 12 and fin heat sink 13 are integrally formed, reducing the number of parts, simplifying the process, and improving production consistency.

[0036] See also Figure 2The rotor bracket 21 is provided with a bearing fixing portion 24, which is connected to the magnetic steel fixing portion 23. The bearing fixing portion 24 has a bearing fixing groove 241, and the stator inner ring 11 is disposed in the bearing fixing groove 241. The rotor assembly 20 also includes a rotor bearing 25, which is disposed on the rotor bracket 21 and 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 sidewall of the bearing fixing groove 241, thereby limiting its radial displacement.

[0037] The inner side of the rotor bearing 25 is attached to the inner sidewall of the bearing fixing groove 241, and the outer side of the rotor bearing 25 is attached to one side of the stator inner ring 11. The other side of the stator inner ring 11 is attached to the injection-molded stator 12. In this way, by establishing a mutual abutment and clamping relationship, the rotor bearing 25 is more firmly fixed, its radial displacement is limited, and reliability is improved.

[0038] See also Figure 3 and Figure 4 The stator inner ring 11 includes an inner ring body 111 and a retaining ring 112. The outer surface of the inner ring body 111 is attached to the inner surface of the injection-molded stator 12. The retaining ring 112 is mounted on the inner ring body 111 and, together with the bearing retaining groove 241, forms a bearing retaining area. The top of the rotor bearing 25 abuts against the retaining ring 112, allowing the retaining ring 112 to retain the rotor bearing 25 within the bearing retaining area. It should be noted that the inner ring body 111 is used to attach to the stator assembly and also secure the retaining ring 112. The retaining ring 112 is an annular protrusion that divides the inner ring body 111 into a bearing area and a gear area, respectively securing the rotor bearing 25 and the gear set. The top of the rotor bearing 25 abuts the bottom surface of the retaining ring 112, while the bottom is embedded in the bearing retaining groove 241, forming an axial retaining area.

[0039] See also Figures 1 to 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 sinks 131 is respectively arranged in one of the heat sink grooves. 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 made stronger.

[0040] Further, 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, thereby enhancing 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 enables 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.

[0041] See also Figures 2 to 4 The high-density power motor module also includes a gear reduction box 30, which is mounted 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 mounted 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 as to provide the gear reduction box 30 with the driving force of the motor.

[0042] The gear reduction box 30 includes an inner ring gear 31, a gear set, and a planet carrier 32. The inner ring gear 31 is connected to the stator inner ring 11, and the gear set meshes with the inner ring gear 31. The gear set is also connected to the rotor support 21 and the planet carrier 32, respectively. The inner ring gear 31 serves as a fixed ring for the planetary gear 34, providing an internal meshing tooth profile to guide the planetary gears' orbital rotation, withstand radial and tangential forces on the planetary gears, and ensure smooth transmission. The gear set is used to receive torque from the rotor support 21, drive the rotation of the planetary gears, and mesh with the sun gear and inner ring gear 31 to achieve power splitting and speed reduction.

[0043] The gear set includes a sun gear 33 and multiple planet gears 34. The outer teeth of the sun gear 33 mesh with each of the planet gears 34, which in turn mesh with the outer teeth of each of the planet gears 34. Furthermore, the rotor support 21 includes a rotor output shaft and a rotor body. The rotor output shaft is mounted on the rotor body and connected to the sun gear 33. The planet carrier 32 is provided with multiple planet output shafts, each of which is connected to each of the planet gears 34 in a one-to-one correspondence. The rotor output shaft is mounted within the center hole of the sun gear 33, and each of the planet output shafts is mounted within the center hole of each of the planet 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, ensuring lossless torque transmission. Each planet gear 34 is connected to a planet output shaft on the planet carrier 32 through the center hole, allowing the planet gear 34 to simultaneously rotate around the sun gear 33. The outer teeth of the sun gear 33 form an external meshing with the inner teeth of the multiple planetary gears 34 to achieve primary deceleration; the outer teeth of the planetary gears 34 form an internal meshing with the inner teeth of the inner ring gear 31 to form a closed planetary gear 34 wheel transmission chain to achieve secondary deceleration.

[0044] 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 gear 33 of the gear set form the input end through knurled 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 fully utilize the space inside the stator, further reduce the module volume, and provide sufficient space for the robot joint space.

[0045] See also Figure 3 and Figure 4The outer teeth of each planetary gear 34 also mesh with the inner ring gear 31. The limiting ring 112 divides the inner ring body 111 into a bearing area and a gear area. Each planetary gear 34 is disposed on the gear area and abuts the limiting ring 112. The height of the planetary gear 34 is equal to that of the gear area of the inner ring body 111. The height of the rotor bearing 25 is equal to that of the bearing area of the inner ring body 111. It should be noted that the bearing area is used to mount 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 is provided with axial positioning by the limiting ring 112. The end faces of the planetary gears 34 and the contact surface of the limiting ring 112 form an axial limit, preventing axial movement of the planetary gears 34 during high-speed rotation and avoiding tooth surface wear caused by gear meshing offset. The total height of the planetary gears 34 (from tooth top to end face) is equal to the axial depth of the gear area, ensuring that the planetary gears 34 are fully embedded in the gear area, avoiding interference with the tooth tops of the inner ring gear 31, and ensuring a constant meshing depth between the planetary gears 34 and the inner ring gear 31, thereby avoiding tooth surface contact stress concentration 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 and reducing vibration. The preload force of the rotor bearing 25 is also stable, reducing vibration and noise caused by changes in bearing clearance.

[0046] 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 arranged 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 arranged 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. The stator fixing frame 123 disperses the stress to the entire injection molded 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, reducing leakage magnetic flux and increasing 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 molded layer 121 through the heat conductive structure of the stator sleeve 124, and finally the heat is dissipated by the fin heat sink 13.

[0047] See also Figure 4 and Figure 6The stator mounting bracket 123 includes a first fixing plate 123a and a second fixing plate 123b, respectively disposed on the end surfaces of the stator sleeve 124. Both the first fixing plate 123a and the second fixing plate 123b have a fan-shaped structure and are arranged in a circular ring on the injection-molded stator 12. It should be noted that the first fixing plates 123a are arranged in a ring and have a fan-shaped structure. The inner arc surfaces of the first fixing plates 123a are sequentially connected to form an inner circle, and the outer arc surfaces of the first fixing plates 123a are sequentially connected to form an outer circle. The fixing plates withstand axial forces (such as the impact force during motor startup) and radial forces (such as the centrifugal force caused by rotor eccentricity) on the stator sleeve 124. The bolt preload transfers stress to the injection-molded layer 121, preventing deformation of the end surfaces of the stator sleeve 124. The injection molding pressure makes the fixing plate fit tightly 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, thereby enhancing the wettability with the injection molding material and reducing the interface porosity.

[0048] Further, see Figure 6 The injection-molded stator 12 also includes multiple locating pins 127, each positioned on the stator inner ring 11. The stator sleeve 124 is provided with locating holes, and each locating pin 127 is inserted into the stator inner ring 11 after being positioned through a corresponding locating hole. It should be noted that the locating pins 127 are embedded into the stator inner ring 11 through an interference fit or press-fit process, creating a mechanical anchor. The locating pins 127 withstand radial forces (such as centrifugal force caused by rotor eccentricity) and tangential forces (such as torque during motor startup) of the stator assembly, resisting deformation through friction between the pin body and the inner ring. Once inserted into the locating holes, the locating pins 127 achieve radial and axial positioning between the stator sleeve 124 and the stator inner ring 11 through a clearance fit. The contact area between the cylindrical surface of the locating pins 127 and the locating holes provides support stiffness, resisting elastic deformation of the stator sleeve 124. The exposed portions of the locating pins 127 are covered with injection molding material, creating 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.

[0049] The above-described embodiments merely represent several embodiments of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended 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 includes a stator inner ring, an injection-molded stator and a fin heat sink. 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. The injection-molded stator and the fin heat sink are integrally injection-molded. The rotor assembly includes a rotor support and a plurality of magnetic steel blocks. The rotor support is provided with a magnetic steel fixing portion. 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. The injection molded stator is inductively connected to each of the magnetic steel blocks. The fin heat sink includes a plurality of heat sinks, each of which is provided on the injection-molded stator, and each of the heat sinks and the injection-molded stator is injection-molded into an integral structure; 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. The limiting ring and the bearing fixing groove together form a bearing fixing area. 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. 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 ring gear, a gear set and a planet carrier. The inner ring gear is connected to the inner ring of the stator, the gear set is meshed with the inner ring gear, and the gear set is also connected to the rotor bracket and the planet carrier respectively.

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 portion, 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.

3. The high-density power motor module for robots according to claim 2, characterized in that: The rotor assembly further 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 of the rotor bearing is attached to the inner side 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.

5. The high-density power motor module for robots according to claim 1, 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.

6. The high-density power motor module for robots according to claim 1, 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, and the outer arc surface of the heat sink is tangent to the outer circle of the injection-molded stator. 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.

7. The high-density power motor module for robots according to claim 1, characterized in that: The heat sinks together form an annular heat dissipation structure, and the heat sinks are arranged in a radial annular shape.

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