A frameless torque motor

Abstract

The present invention relates to the technical field of motors, and discloses a frameless torque motor, which includes a stator for generating a rotating magnetic field. A plurality of stator slots are equidistantly arranged on the inner wall of the stator, and a stator winding is arranged between two adjacent stator slots. A rotor is used to generate a rotational motion under the action of the rotating magnetic field of the stator. The rotor is arranged inside the stator and concentric with it, and an air gap is arranged between the rotor and the stator. When the rotor rotates clockwise or counterclockwise, through the cooperation of the heat dissipation component and the air supply component, the fan blades rotate a certain angle left and right, so as to drive the air flow into the cavity formed by the mounting plate, the lower cover plate, the heat dissipation box and the air gap, thereby enabling the air flow to dissipate heat and cool the stator and the rotor, avoiding damage to the frameless torque motor due to overheating during long-term operation, and ensuring the normal operation of the frameless torque motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and particularly to a frameless torque motor. Background Art

[0002] The frameless torque motor for humanoid robots is a motor designed specifically for robot joints. It features high precision, high response speed, and large torque. This type of motor usually adopts a frameless design, that is, there is no traditional mechanical frame between the motor rotor and stator, thus reducing weight and improving dynamic performance. Frameless torque motors are widely used in humanoid robots because they can provide precise control and rapid response, which are crucial for achieving smooth and natural movements of the robots.

[0003] When the frameless torque motor for humanoid robots is in use, it will perform high-frequency forward and reverse movements, resulting in heat generation of the frameless torque motor. If effective heat dissipation cannot be achieved, the frameless torque motor may be damaged due to thermal overload, thus affecting the normal operation of the humanoid robot. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and propose a frameless torque motor.

[0005] To achieve the above objective, the present invention adopts the following technical solutions:

[0006] A frameless torque motor, comprising:

[0007] A stator for generating a rotating magnetic field. Multiple stator slots are equidistantly formed on the inner wall of the stator, and a stator winding is provided between adjacent two of the stator slots;

[0008] A rotor for generating a rotational movement under the action of the rotating magnetic field of the stator. The rotor is arranged inside the stator with the same center, and an air gap is provided between the rotor and the stator;

[0009] A heat dissipation assembly for dissipating heat of the stator and the rotor. The heat dissipation assembly is arranged inside the stator slot and is used in cooperation with the rotor;

[0010] An air supply assembly for cooling and supplying air to the heat dissipation assembly. The air supply assembly is arranged on the top of the rotor and is fixedly connected thereto;

[0011] The heat dissipation assembly includes a heat dissipation box fixedly installed on the inner wall of one side of the stator slot. A plurality of heat dissipation fins are uniformly arranged on the inner wall of the heat dissipation box away from the rotor. An air inlet is formed through the outer surface of the top of the heat dissipation box close to the rotor, and the air inlet is arranged inside the air gap. A one-way exhaust nozzle is fixedly installed at the bottom end of the heat dissipation box. A gap is provided between one end of each of the plurality of heat dissipation fins close to the air inlet and the inner wall of the heat dissipation box for air circulation;

[0012] The air supply assembly includes a mounting disc fixedly installed at the top end of the rotor. A plurality of openings are equidistantly perforated in the circumferential direction on the upper surface of the mounting disc. Blades are rotatably installed between the inner walls on opposite sides of the plurality of openings. A lower cover plate is fixedly installed at the bottom end of the rotor. The top, bottom, and side surfaces of the air gap are respectively sealed by the mounting disc, the lower cover plate, and the heat dissipation box to form a cavity;

[0013] A driving mechanism for driving the blades to rotate forward and backward is arranged on the upper surface of the mounting disc.

[0014] As a further solution of the present invention, the driving mechanism includes an annular sunk groove opened on the upper surface of the mounting disc. A slip ring is slidably installed on the inner wall of the annular sunk groove. One end of the blade close to the slip ring penetrates through the inner wall of the annular sunk groove and is fixedly installed with a gear. A plurality of T-shaped fixing plates are equidistantly fixedly installed on the outer circumferential surface near the top end of the slip ring. An arc end face rack is fixedly installed on the lower surface of one end of the T-shaped fixing plate close to the gear. The arc end face rack is engaged with the gear. A limiting component is arranged between the slip ring and the mounting disc.

[0015] As a further solution of the present invention, the limiting component includes a plurality of T-shaped arc limiting grooves penetrating through the upper surface of the slip ring. The plurality of T-shaped arc limiting grooves are equidistantly arranged in the circumferential direction on the upper surface of the slip ring. A plurality of T-shaped limiting pins are equidistantly fixedly installed on the bottom wall of the annular sunk groove. The plurality of T-shaped limiting pins are respectively slidably installed with the inner walls of the plurality of T-shaped arc limiting grooves. The T-shaped arc limiting grooves and the slip ring are arranged at the same center of the circle.

[0016] As a further solution of the present invention, a plurality of convex blocks are equidistantly fixedly installed on the outer circumferential surface of the slip ring close to the annular sunk groove. A plurality of groups of limiting blocks are equidistantly arranged in pairs on the circumferential inner wall of the annular sunk groove. The convex blocks are arranged between a group of two limiting blocks. Two arc-shaped springs are symmetrically fixedly installed on the outer surfaces of opposite sides of the convex block. The other ends of the two arc-shaped springs are respectively fixedly connected with the outer surfaces of a group of two limiting blocks.

[0017] As a further solution of the present invention, a plurality of accommodating grooves are equidistantly opened on the upper surface of the mounting disc. The accommodating grooves are arranged between adjacent two openings. The two ends of the accommodating groove are respectively arranged in parallel with the adjacent two openings. Plug holes are respectively penetrated through the inner walls close to the two ends of the accommodating groove. Sealing plates are slidably installed on the inner walls of the two plug holes.

[0018] As a further solution of the present invention, two L-shaped lever rods are symmetrically rotatably installed on the bottom wall of the accommodating groove. A sliding column is fixedly installed on the upper surface of one end of the L-shaped lever rod close to the accommodating groove. A sliding groove is penetrated through the upper surface of the end of the sealing plate far from the opening. The sliding column is slidably installed with the inner wall of the sliding groove.

[0019] As a further solution of the present invention, a guide groove is formed through the upper surface of the other end of the L-shaped lever. The guide groove is composed of an arc groove at the bottom end and a straight groove at the top end. Two guide posts are symmetrically and fixedly installed on the lower surfaces of the opposite ends of the T-shaped fixing plate. The two guide posts are respectively slidably installed on the inner walls of two adjacent guide grooves. The arc groove of the guide groove and the mounting disc are arranged at the same center of the circle.

[0020] As a further solution of the present invention, the annular sink, the mounting disc, the slip ring and the rotor are arranged at the same center of the circle. The number of T-shaped fixing plates is the same as that of the fan blades. An upper cover plate is fixedly installed on the upper surface of the mounting disc. The upper cover plate is provided with an air inlet matching the opening. Arc corners are formed on the outer surfaces of the opposite ends of the fan blades. Arc grooves matching the arc corners of the fan blades are formed on the inner walls of the opposite ends of the opening. Bevels are formed on the lower surfaces of the fan blades near both ends.

[0021] As a further solution of the present invention, a through hole is formed inside the rotor.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When the rotor of the present invention rotates clockwise or counterclockwise, through the cooperation of the heat dissipation component and the air supply component, the fan blades rotate a certain angle left and right, so as to drive the air flow into the cavity formed by the mounting disc, the lower cover plate, the heat dissipation box and the air gap, thereby enabling the air flow to dissipate heat from the stator and the rotor, avoiding damage to the frameless torque motor due to overheating during long-term operation, and ensuring the normal operation of the frameless torque motor;

[0024] 2. When the left end of the sealing plate abuts against the upper surface of the fan blade, the concave pit formed between the fan blade and the opening due to the left end of the fan blade tilting up and the right end sinking can be sealed. Since when the fan blade moves, the air above will flow into the concave pit along the inclined upper surface of the fan blade, thus forming a large air resistance. By this device, the concave pit formed between the fan blade and the opening during the movement of the fan blade can be sealed, thereby avoiding the air resistance generated by the concave pit and the air, and further reducing the operating load of the rotor. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the overall structure of a frameless torque motor proposed by the present invention;

[0026] Figure 2 It is a schematic diagram of the bottom view structure of a frameless torque motor proposed by the present invention;

[0027] Figure 3 It is a schematic diagram of the top view structure of a frameless torque motor proposed by the present invention;

[0028] Figure 4Schematic diagram of the stator slots of a frameless torque motor proposed by the present invention;

[0029] Figure 5 Schematic diagram of the bottom view of the mounting plate of a frameless torque motor proposed by the present invention;

[0030] Figure 6 Schematic diagram of the slip ring of a frameless torque motor proposed by the present invention;

[0031] Figure 7 Schematic diagram of the mounting plate of a frameless torque motor proposed by the present invention;

[0032] Figure 8 Schematic diagram of the receiving slot of a frameless torque motor proposed by the present invention;

[0033] Figure 9 Schematic diagram of the sectional view of the mounting plate of a frameless torque motor proposed by the present invention;

[0034] Figure 10 Schematic diagram of the heat dissipation box of a frameless torque motor proposed by the present invention;

[0035] Figure 11 Schematic diagram of the fan blade of a frameless torque motor proposed by the present invention;

[0036] Figure 12 Schematic diagram of the sealing plate of a frameless torque motor proposed by the present invention;

[0037] Figure 13 Schematic diagram of the bottom view of the fan blade of a frameless torque motor proposed by the present invention;

[0038] Figure 14 is Figure 6 Partial enlarged view at location A in

[0039] Figure 15 is Figure 3 Partial enlarged view at location B in

[0040] Figure 16 Explosion diagram of the upper cover plate, mounting plate and slip ring of a frameless torque motor proposed by the present invention.

[0041] In the figure: 1, stator; 101, stator slot; 2, rotor; 3, heat dissipation box; 301, one-way exhaust nozzle; 302, heat dissipation fin; 303, air inlet; 4, through hole; 5, lower cover plate; 6, upper cover plate; 601, air inlet; 7, mounting plate; 701, opening; 702, annular sunk groove; 703, arc-shaped groove; 704, socket; 705, receiving groove; 8, fan blade; 9, sealing plate; 10, slip ring; 1001, T-shaped arc-shaped limiting groove; 1002, T-shaped limiting pin; 1003, convex block; 11, T-shaped fixing plate; 12, gear; 13, arc-shaped end face rack; 14, L-shaped lever; 1401, guide groove; 1402, guide post; 1403, chute; 1404, sliding post; 15, limiting block; 16, arc-shaped spring. Detailed implementation manners

[0042] To make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0043] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0045] Refer to Figure 1 - Figure 16 , a frameless torque motor, comprising:

[0046] A stator 1 for generating a rotating magnetic field. A plurality of stator slots 101 are equidistantly arranged on the inner wall of the stator 1, and a stator winding is arranged between adjacent two stator slots 101;

[0047] The rotor 2 is used to generate a rotational motion under the rotating magnetic field of the stator 1. The rotor 2 is arranged inside the stator 1 with the same center, and there is an air gap between the rotor 2 and the stator 1.

[0048] The heat dissipation component is used for dissipating heat from the stator 1 and the rotor 2. The heat dissipation component is arranged inside the stator slot 101 and is used in cooperation with the rotor 2.

[0049] The air supply component is used for cooling and supplying air to the heat dissipation component. The air supply component is arranged on the top of the rotor 2 and is fixedly connected thereto.

[0050] The air supply component sends a flowing air flow into the heat dissipation component through the air gap to dissipate heat and cool down the stator 1 and the rotor 2.

[0051] As Figures 1-4 shown, the heat dissipation component includes a heat dissipation box 3. The heat dissipation box 3 is fixedly installed on the inner wall of one side of the stator slot 101. A plurality of heat dissipation fins 302 are uniformly arranged on the inner wall of the heat dissipation box 3 away from the rotor 2. As Figure 10 shown, an air inlet 303 is formed through the outer surface of the heat dissipation box 3 near the rotor 2 at the top. The air inlet 303 is arranged inside the air gap. A one-way exhaust nozzle 301 is fixedly installed at the bottom end of the heat dissipation box 3. A gap is provided between one end of the plurality of heat dissipation fins 302 close to the air inlet 303 and the inner wall of the heat dissipation box 3 for air circulation.

[0052] The air supply component sends the air flow into the air gap. When the air flow enters the air gap, it can effectively cool the surface of the rotor 2. At the same time, the air flow entering the air gap will enter the heat dissipation box 3 through the air inlet 303. Since there is a gap between the heat dissipation fins 302 and the air inlet 303, the air flow will flow into the space between the heat dissipation fins 302 through the gap and then be discharged from the one-way exhaust nozzle 301. The heat dissipation fins 302 are cooled by the circulation of the air flow, so that the heat dissipation fins 302 can cool the stator 1.

[0053] As Figures 5-9 shown, the air supply component includes a mounting plate 7 fixedly installed at the top end of the rotor 2. As Figure 8 shown, a plurality of openings 701 are equidistantly formed through the circumferential direction of the upper surface of the mounting plate 7. A fan blade 8 is rotatably installed between the inner walls on opposite sides of each of the plurality of openings 701. A lower cover plate 5 is fixedly installed at the bottom end of the rotor 2. The top, bottom and side surfaces of the air gap are respectively sealed by the mounting plate 7, the lower cover plate 5 and the heat dissipation box 3 to form a cavity. A driving mechanism for driving the fan blade 8 to rotate forward and backward is arranged on the upper surface of the mounting plate 7.

[0054] The driving mechanism drives the fan blade 8 to rotate forward and backward, so that when the rotor 2 rotates clockwise or counterclockwise, the right end or the left end of the fan blade 8 is lifted.

[0055] AsFigure 13 and Figure 14 As shown in Figure 14 , the driving mechanism includes an annular sunk groove 702 formed on the upper surface of the mounting disk 7. A slip ring 10 is slidably mounted on the inner wall of the annular sunk groove 702. One end of the fan blade 8 close to the slip ring 10 penetrates through the inner wall of the annular sunk groove 702 and is fixedly installed with a gear 12. A plurality of T-shaped fixing plates 11 are equidistantly and fixedly installed on the outer circumferential surface of the slip ring 10 close to the top end. An arc end face rack 13 is fixedly installed on the lower surface of one end of the T-shaped fixing plate 11 close to the gear 12. The arc end face rack 13 meshes with the gear 12. As Figure 16 shown in Figure 16 , the annular sunk groove 702, the mounting disk 7, the slip ring 10 and the rotor 2 are arranged at the same center. The number of T-shaped fixing plates 11 is the same as that of the fan blades 8. An upper cover plate 6 is fixedly installed on the upper surface of the mounting disk 7. The upper cover plate 6 is provided with an air inlet 601 matching the opening 701;

[0056] A rotating magnetic field is generated by the stator winding on the stator 1, and the rotor 2 is driven to rotate clockwise or counterclockwise by the rotating magnetic field. When the rotor 2 rotates counterclockwise, because the rotor 2 starts instantaneously, and the slip ring 10 will remain stationary due to inertia, so at the moment when the rotor 2 rotates, the slip ring 10 rotates clockwise relative to the rotor 2. By the slip ring 10 rotating clockwise relative to the rotor 2, the T-shaped fixing plate 11 is driven to move to the right. The T-shaped fixing plate 11 drives the fan blade 8 to rotate through the arc end face rack 13 and the gear 12. As Figure 15 shown in Figure 15 , the left end of the fan blade 8 will tilt by a certain angle, and the height of the tilt exceeds the upper surface of the upper cover plate 6 by a certain distance. By the counterclockwise rotation of the rotor 2, the mounting disk 7 is driven to rotate counterclockwise, and the mounting disk 7 will drive the fan blade 8 to move counterclockwise. Therefore, the inclined surface of the tilted fan blade 8 will push the air to flow and generate an air current. The air current will flow along the inclined surface of the fan blade 8, pass through the air inlet 601 and the opening 701 on the upper cover plate 6 and enter the interior of the cavity composed of the air gap; When the rotor 2 rotates clockwise or counterclockwise, the fan blade 8 will be driven to move. Due to the resistance of the air acting on the inclined surface of the fan blade 8, the fan blade 8 will always be pushed to tilt.

[0057] As Figure 11 and Figure 14 shown in Figure 14 , arc angles are provided on the outer surfaces of the opposite ends of the fan blade 8. Arc grooves 703 matching the arc angles of the fan blade 8 are provided on the inner walls of the opposite ends of the opening 701. Bevel surfaces are provided on the lower surfaces of the fan blade 8 close to both ends. By the arc angles provided at both ends of the fan blade 8, when the fan blade 8 tilts and rotates left and right, it can slide on the inner wall of the arc groove 703 to avoid forming holes in the opening 701. And when the fan blade 8 is in the closed state, the arc angles at both ends of the fan blade 8 can be completely attached to the arc groove 703 to avoid generating gaps, so that external dust and sundries cannot enter between the stator 1 and the rotor 2 when the torque motor is not in use.

[0058] As Figure 8 and Figure 14 shown, a limiting component is provided between the slip ring 10 and the mounting disk 7. The limiting component includes a plurality of T-shaped arc limiting grooves 1001 penetrating through the upper surface of the slip ring 10. The plurality of T-shaped arc limiting grooves 1001 are equidistantly arranged in the circumferential direction of the upper surface of the slip ring 10. A plurality of T-shaped limiting pins 1002 are fixedly installed equidistantly on the bottom wall of the annular sunk groove 702. The plurality of T-shaped limiting pins 1002 are respectively slidably installed with the inner walls of the plurality of T-shaped arc limiting grooves 1001. The T-shaped arc limiting grooves 1001 and the slip ring 10 are arranged at the same center of the circle.

[0059] The tilting angle of the fan blade 8 is determined by the T-shaped arc limiting groove 1001 and the T-shaped limiting pin 1002. When the two ends of the T-shaped arc limiting groove 1001 abut against the T-shaped limiting pin 1002, it is the tilting angle of the left and right ends of the fan blade 8.

[0060] In this embodiment, as Figure 8 and Figure 14 shown, a plurality of convex blocks 1003 are fixedly installed equidistantly on the circumferential outer surface of the slip ring 10 close to the annular sunk groove 702. A plurality of groups of limiting blocks 15 are arranged equidistantly in pairs on the circumferential inner wall of the annular sunk groove 702. The convex blocks 1003 are arranged between a group of two limiting blocks 15. Two arc-shaped springs 16 are symmetrically fixedly installed on the outer surfaces of the opposite sides of the convex block 1003. The other ends of the two arc-shaped springs 16 are respectively fixedly connected to the outer surfaces of a group of two limiting blocks 15.

[0061] When the rotor 2 does not rotate, through the cooperation of the two arc-shaped springs 16 and the convex block 1003, the slip ring 10 is driven to stop at the initial position. At this time, the T-shaped limiting pin 1002 is located in the middle position of the T-shaped arc limiting groove 1001. In the initial position, the fan blade 8 is in a closed state, and the opening 701 can be closed to prevent foreign objects and dust from the outside from entering the inside of the air gap.

[0062] In this embodiment, as Figure 8 and Figure 14As shown in the figure, a plurality of receiving grooves 705 are equidistantly arranged on the upper surface of the mounting disc 7. The receiving grooves 705 are provided between two adjacent openings 701. The two ends of the receiving groove 705 are respectively arranged in parallel with two adjacent openings 701. Sockets 704 are penetrate-throughly opened on the inner walls of the receiving groove 705 near both ends. Sealing plates 9 are slidably mounted on the inner walls of the two sockets 704. Two L-shaped lever rods 14 are symmetrically and rotatably mounted on the bottom wall of the receiving groove 705. A sliding column 1404 is fixedly mounted on the upper surface of the L-shaped lever rod 14 near one end of the receiving groove 705. A sliding groove 1403 is penetrate-throughly opened on the upper surface of the sealing plate 9 away from the opening 701. The sliding column 1404 is slidably mounted on the inner wall of the sliding groove 1403. A guiding groove 1401 is penetrate-throughly opened on the upper surface of the other end of the L-shaped lever rod 14. The guiding groove 1401 is composed of an arc groove at the bottom end and a straight groove at the top end. Two guiding columns 1402 are symmetrically fixedly mounted on the lower surfaces of the opposite ends of the T-shaped fixing plate 11. The two guiding columns 1402 are respectively slidably mounted on the inner walls of two adjacent guiding grooves 1401. The arc groove of the guiding groove 1401 and the mounting disc 7 are arranged concentrically.

[0063] When the slip ring 10 moves clockwise or counterclockwise relative to the rotor 2, it will drive the T-shaped fixing plate 11 to move to the right or left. The guiding column 1402 is driven by the T-shaped fixing plate 11 to move to the right or left. When the T-shaped fixing plate 11 moves to the right from the initial position, that is, when the slip ring 10 moves clockwise relative to the rotor 2, the guiding column 1402 at the left end of the T-shaped fixing plate 11 will slide to the left along the arc groove of the guiding groove 1401 on the L-shaped lever rod 14 on the left side of the T-shaped fixing plate 11. Because the arc groove of the guiding groove 1401 and the mounting disc 7 are arranged concentrically, the guiding column 1402 at the left end of the T-shaped fixing plate 11 will not drive the L-shaped lever rod 14 on the left side to move;

[0064] Meanwhile, the guide post 1402 at the right end of the T-shaped fixing plate 11 will slide to the right along the arc groove of the guide groove 1401 on the L-shaped lever 14 on the right side of the T-shaped fixing plate 11. When the guide post 1402 slides to the right along the arc groove of the guide groove 1401, the L-shaped lever 14 does not rotate, so that the end of the fan blade 8 can slide away from the socket 704, avoiding movement interference between the fan blade 8 and the sealing plate 9. When it slides to the straight groove position of the guide groove 1401, as the guide post 1402 continues to move to the right, it will drive the L-shaped lever 14 on the right side to rotate. At this time, the top end of the L-shaped lever 14 on the right side rotates to the left. Through the cooperation of the sliding post 1404 and the sliding groove 1403, it drives the sealing plate 9 at the left end of the receiving groove 705 to slide to the left. The left end of the sealing plate 9 will slide to a position where it abuts against the upper surface of the fan blade 8 and stops. A chamfer matching the inclination angle of the fan blade 8 is provided on the lower surface of the left end of the sealing plate 9. When the left end of the sealing plate 9 abuts against the upper surface of the fan blade 8, it can seal the pit formed with the opening 701 due to the left end of the fan blade 8 tilting up and the right end sinking. The existence of the pit makes the upper part of the rotor 2 uneven. When the rotor 2 rotates, this pit makes the air flow more unstable, generating turbulence instead of smooth flow. This turbulence will increase the air resistance, resulting in a decrease in the rotation efficiency of the rotor 2 and requiring more energy to overcome this additional air resistance. Through this device, the pit formed between the fan blade 8 and the opening 701 during the movement of the fan blade 8 can be sealed, thus avoiding the air resistance generated by the pit and the air, and further reducing the operating load of the rotor 2.

[0065] In this embodiment, a through hole 4 is provided inside the rotor 2, which facilitates the subsequent installation of the rotor 2.

[0066] It should be noted that before the present invention is used, the user installs the stator 1 and the rotor 2 at the designated positions of the humanoid robot. During installation, the installation specifications of the frameless torque motor of the humanoid robot are followed, and the stator 1 is electrically connected to an external controller; during use, a rotating magnetic field is generated by the stator winding on the stator 1, and the rotor 2 is driven to rotate clockwise or counterclockwise by the rotating magnetic field. When the rotor 2 rotates counterclockwise, because the rotor 2 starts instantaneously, due to inertia, the slip ring 10 will remain stationary. At this time, the slip ring 10 rotates clockwise relative to the rotor 2. By the slip ring 10 rotating clockwise relative to the rotor 2, the T-shaped fixing plate 11 is driven to move to the right. The T-shaped fixing plate 11 drives the fan blade 8 to rotate through the arc end face rack 13 and the gear 12. The left end of the fan blade 8 will tilt at a certain angle. Also, because the rotor 2 rotates counterclockwise, the inclined surface where the left end of the fan blade 8 tilts will push the air to flow, thereby generating an air current. The air current will flow along the inclined surface of the fan blade 8, pass through the air inlet 601 and the opening 701, and enter the interior of the cavity composed of the air gap. When the air current enters the cavity, it can effectively cool the surface of the rotor 2. At the same time, the air pressure inside the cavity increases, and the air current will enter the interior of the heat dissipation box 3 through the air inlet 303. Because there is a gap between the heat dissipation fins 302 and the air inlet 303, the air current will flow into the space between the heat dissipation fins 302 through the gap, and then be discharged from the one-way exhaust nozzle 301. The stator 1 is cooled by the heat dissipation fins 302. When the rotor 2 rotates clockwise, by the same principle, the right end of the fan blade 8 will tilt at a certain angle, thereby driving the air current to flow through the heat dissipation fins 302. Through this device, when the rotor 2 rotates clockwise or counterclockwise, the fan blade 8 drives the air current to enter the interior of the cavity, so that the air current cools the stator 1 and the rotor 2, avoiding damage to the frameless torque motor due to overheating during long-term operation, and ensuring the normal operation of the frameless torque motor;

[0067] When the rotor 2 rotates clockwise or counterclockwise, it will drive the fan blade 8 to move. Due to the resistance of the air acting on the inclined surface of the fan blade 8, the fan blade 8 will always be pushed to tilt. The tilting angle of the fan blade 8 is determined by the T-shaped arc limiting groove 1001 and the T-shaped limiting pin 1002. When the two ends of the T-shaped arc limiting groove 1001 abut against the T-shaped limiting pin 1002, it is the tilting angle of the left and right ends of the fan blade 8;

[0068] When the rotor 2 does not rotate, through the cooperation of two arc-shaped springs 16 and the convex block 1003, the slip ring 10 is driven to stop at the initial position. At this time, the T-shaped limiting pin 1002 is located in the middle of the T-shaped arc limiting groove 1001;

[0069] When the slip ring 10 moves clockwise or counterclockwise relative to the rotor 2, it will drive the T-shaped fixing plate 11 to move to the right or left. By driving the T-shaped fixing plate 11, the guide post 1402 is driven to move to the right or left. When the T-shaped fixing plate 11 moves to the right from the initial position, that is, when the slip ring 10 moves clockwise relative to the rotor 2, the guide post 1402 at the left end of the T-shaped fixing plate 11 will slide to the left along the arc groove of the guide groove 1401 on the L-shaped lever 14 on the left side of the T-shaped fixing plate 11. Because the arc groove of the guide groove 1401 and the mounting plate 7 are arranged at the same center of the circle, the guide post 1402 at the left end of the T-shaped fixing plate 11 will not drive the L-shaped lever 14 on the left side to move;

[0070] At the same time, the guide post 1402 at the right end of the T-shaped fixing plate 11 will slide to the right along the arc groove of the guide groove 1401 on the L-shaped lever 14 on the right side of the T-shaped fixing plate 11. When the guide post 1402 slides to the right in the arc groove of the guide groove 1401, the L-shaped lever 14 does not rotate, so that the end of the fan blade 8 can slide away from the socket 704, avoiding movement interference between the fan blade 8 and the sealing plate 9. When sliding to the straight groove position of the guide groove 1401, as the guide post 1402 continues to move to the right, it will drive the L-shaped lever 14 on the right side to rotate. At this time, the top of the L-shaped lever 14 on the right side rotates to the left. Through the cooperation of the sliding column 1404 and the sliding groove 1403, the sealing plate 9 at the left end of the receiving groove 705 is driven to slide to the left, and the left end of the sealing plate 9 will slide to a position where it abuts against the upper surface of the fan blade 8 and stops. A chamfer matching the inclination angle of the fan blade 8 is provided on the lower surface of the left end of the sealing plate 9. When the left end of the sealing plate 9 abuts against the upper surface of the fan blade 8, the concave pit formed by the left end of the fan blade 8 tilting up and the right end sinking and the opening 701 can be sealed. Since when the fan blade 8 moves, the air above will flow into the concave pit along the inclined upper surface of the fan blade 8, resulting in a large wind resistance. Through this device, the concave pit formed by the movement of the fan blade 8 and the opening 701 can be sealed, thus avoiding the wind resistance generated by the concave pit and the air, and further reducing the operating load of the rotor 2.

[0071] In this solution, the control mode of the electrical components is controlled by a peripheral controller supporting it, and the control circuit can be realized by simple programming of those skilled in the art, which belongs to the common knowledge in this field. Only its use is involved without improvement, and the present invention mainly aims to protect the mechanical device, so the control mode and circuit connection of the present invention will not be further explained in detail.

[0072] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A frameless torque motor, characterized in that, Comprising: A stator (1) for generating a rotating magnetic field. A plurality of stator slots (101) are equidistantly arranged on the inner wall of the stator (1), and a stator winding is arranged between two adjacent stator slots (101); A rotor (2) for generating a rotational movement under the action of the rotating magnetic field of the stator (1). The rotor (2) is arranged inside the stator (1) and concentric with it, and an air gap is arranged between the rotor (2) and the stator (1); A heat dissipation component for dissipating heat from the stator (1) and the rotor (2). The heat dissipation component is arranged inside the stator slot (101) and is used in cooperation with the rotor (2); A air supply component for cooling and supplying air to the heat dissipation component. The air supply component is arranged on the top of the rotor (2) and is fixedly connected to it; The heat dissipation component includes a heat dissipation box (3). The heat dissipation box (3) is fixedly installed on the inner wall of one side of the stator slot (101). A plurality of heat dissipation fins (302) are evenly arranged on the inner wall of the heat dissipation box (3) away from the rotor (2). An air inlet (303) is penetrated through the outer surface of the heat dissipation box (3) near the rotor (2) on the top. The air inlet (303) is arranged inside the air gap. A one-way exhaust nozzle (301) is fixedly installed at the bottom end of the heat dissipation box (3). A gap is arranged between one end of a plurality of the heat dissipation fins (302) close to the air inlet (303) and the inner wall of the heat dissipation box (3) for air circulation; The air supply component includes a mounting disc (7) fixedly installed at the top end of the rotor (2). A plurality of openings (701) are equidistantly penetrated through the circumferential direction of the upper surface of the mounting disc (7). A fan blade (8) is rotatably installed between the inner walls on opposite sides of each of the plurality of openings (701). A lower cover plate (5) is fixedly installed at the bottom end of the rotor (2). The top, bottom and side surfaces of the air gap are respectively sealed by the mounting disc (7), the lower cover plate (5) and the heat dissipation box (3) to form a cavity; A driving mechanism for driving the fan blades (8) to rotate forward and backward is arranged on the upper surface of the mounting disc (7).

2. The frameless torque motor according to claim 1, wherein The driving mechanism includes an annular sunk groove (702) opened on the upper surface of the mounting disc (7). A slip ring (10) is slidably installed on the inner wall of the annular sunk groove (702). One end of the fan blade (8) close to the slip ring (10) penetrates through the inner wall of the annular sunk groove (702) and is fixedly installed with a gear (12). A plurality of T-shaped fixing plates (11) are equidistantly fixedly installed on the circumferential outer surface of the slip ring (10) near the top end. An arc end face rack (13) is fixedly installed on the lower surface of one end of the T-shaped fixing plate (11) close to the gear (12). The arc end face rack (13) is meshed with the gear (12). A limiting component is arranged between the slip ring (10) and the mounting disc (7).

3. The frameless torque motor according to claim 2, wherein, The limiting component includes a plurality of T-shaped arc limiting grooves (1001) penetrating through the upper surface of the slip ring (10). The plurality of T-shaped arc limiting grooves (1001) are equidistantly arranged in the circumferential direction on the upper surface of the slip ring (10). A plurality of T-shaped limiting pins (1002) are fixedly installed on the bottom wall of the annular sunk groove (702) at equal intervals. The plurality of T-shaped limiting pins (1002) are respectively slidably installed on the inner walls of the plurality of T-shaped arc limiting grooves (1001). The T-shaped arc limiting groove (1001) and the slip ring (10) are arranged with the same center of the circle.

4. The frameless torque motor according to claim 2, characterized in that, A plurality of bumps (1003) are fixedly installed on the circumferential outer surface of the slip ring (10) near the annular sunk groove (702) at equal intervals. A plurality of groups of limiting blocks (15) are arranged on the circumferential inner wall of the annular sunk groove (702) in pairs and at equal intervals. The bump (1003) is arranged between a group of two limiting blocks (15). Two arc-shaped springs (16) are symmetrically fixedly installed on the outer surfaces of the opposite sides of the bump (1003). The other ends of the two arc-shaped springs (16) are respectively fixedly connected to the outer surfaces of a group of two limiting blocks (15).

5. A frameless torque motor according to claim 2, wherein, A plurality of accommodating grooves (705) are equidistantly opened on the upper surface of the mounting plate (7). The accommodating grooves (705) are arranged between two adjacent openings (701). The two ends of the accommodating groove (705) are respectively arranged parallel to two adjacent openings (701). Socket openings (704) are respectively penetrated through the inner walls of the two ends of the accommodating groove (705) close to the two ends. Sealing plates (9) are respectively slidably installed on the inner walls of the two socket openings (704).

6. The frameless torque motor according to claim 5, characterized in that, Two L-shaped toggle levers (14) are symmetrically rotatably installed on the bottom wall of the accommodating groove (705). A sliding column (1404) is fixedly installed on the upper surface of the L-shaped toggle lever (14) close to one end of the accommodating groove (705). A sliding groove (1403) is penetrated through the upper surface of the sealing plate (9) far away from the opening (701). The sliding column (1404) is slidably installed on the inner wall of the sliding groove (1403).

7. The frameless torque motor according to claim 6, wherein A guide groove (1401) is penetrated through the upper surface of the other end of the L-shaped toggle lever (14). The guide groove (1401) is composed of an arc groove at the bottom end and a straight groove at the top end. Two guide posts (1402) are symmetrically fixedly installed on the lower surfaces of the opposite ends of the T-shaped fixing plate (11). The two guide posts (1402) are respectively slidably installed on the inner walls of two adjacent guide grooves (1401). The arc groove of the guide groove (1401) and the mounting plate (7) are arranged with the same center of the circle.

8. The frameless torque motor according to claim 2, wherein The annular sinking groove (702), the mounting disc (7), the slip ring (10) and the rotor (2) are arranged at the same center of a circle. The number of the T-shaped fixing plates (11) is the same as that of the fan blades (8). The upper cover plate (6) is fixedly mounted on the upper surface of the mounting disc (7). An air inlet (601) matching the opening (701) is formed in the upper cover plate (6). Arc angles are formed on the outer surfaces of the opposite ends of the fan blade (8). Arc grooves (703) matching the arc angles of the fan blade (8) are formed on the inner walls of the opposite ends of the opening (701). Inclined surfaces are formed on the lower surfaces of the two ends of the fan blade (8).

9. The frameless torque motor according to claim 1, characterized in that, A through hole (4) is formed in the rotor (2).

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