Frameless motor for robot

Abstract

The invention discloses a frameless motor for a robot, and relates to the technical field of frameless motors, the frameless motor comprises a supporting structure and a stator arranged on the supporting structure, and further comprises a rotor arranged on the supporting structure and used for rotating under the influence of a magnetic field generated by the stator; the surface of the connecting column is fixedly connected with the interior of the rotor, and the connecting column is used for being connected with a robot joint; the cooling structure is located in the supporting structure and used for transferring heat generated by the stator; the cooling fan and the top of the rotor are mutually fixed, and the cooling fan is used for taking away heat transferred on the cooling structure; the heat dissipation device further comprises a cleaning assembly which is arranged on the heat dissipation fan and used for cleaning the heat dissipation fan. According to the cooling fan cleaning device, the cooling fan is cleaned through the cleaning assembly arranged on the cooling fan, whether the bristles make contact with the cooling fan or not can be freely adjusted, and therefore the difficulty of cleaning the cooling fan by workers is lowered.

Description

Technical Field

[0001] The invention relates to the technical field of frameless motors, and in particular to a frameless motor for a robot. Background Art

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

[0003] For example, a new frameless torque motor for a humanoid robot (Announcement No.: CN118842257B) includes a support structure; a stator for generating a rotating magnetic field, wherein the number of the stators is several and evenly distributed, and the side of the stator close to the support structure is fixedly connected to the inner ring of the support structure; a rotor for generating a rotational motion under the influence of the magnetic field generated by the stator, wherein the rotor is located at the axis of the support structure.

[0004] However, the device still has the following defects: the above-mentioned device uses the rotation of fan blades to drive the airflow to dissipate heat to the heat dissipating fins, which can easily cause impurities to adhere to the fan blades after long-term use. The frameless motors are mostly installed on the joints of the robot and are protected by components such as the outer casing. The staff needs to remove the frameless motor for cleaning. The cleaning method after removal is difficult to operate and the user experience is poor. Summary of the invention

[0005] The object of the present invention is to provide a frameless motor for a robot, which cleans the cooling fan by means of a cleaning assembly arranged on the cooling fan, and can freely adjust whether the bristles are in contact with the cooling fan, thereby reducing the difficulty of cleaning the cooling fan for the staff.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a frameless motor for a robot, comprising a support structure, a stator arranged on the support structure, and a rotor arranged on the support structure, for performing rotational motion under the influence of a magnetic field generated by the stator; a connecting column, the surface of which is fixedly connected to the interior of the rotor, for connecting a robot joint; a cooling structure, the cooling structure is located in the support structure, for transferring heat generated by the stator; a cooling fan, the cooling fan is fixed to the top of the rotor, for taking away the heat transferred from the cooling structure; and a cleaning component is also included, the cleaning component is arranged on the cooling fan, for cleaning the cooling fan.

[0007] Preferably, the cleaning assembly comprises a first fixing ring, and a plurality of connecting rods, wherein the first fixing ring is fixed to the upper surface of the supporting structure, and the plurality of connecting rods are distributed on the inner wall of the first fixing ring in a circular array; It also includes a second fixing ring, which is installed on a plurality of connecting rods. The bottom surface of the connecting rods is provided with a plurality of placement grooves, and the plurality of placement grooves are each provided with bristles. It also includes a driving device, which is arranged on the second fixed ring and is used to drive the bristles to move.

[0008] Preferably, the inner top walls of the plurality of placement grooves are commonly provided with a sliding groove, a sliding plate is slidably arranged in the sliding groove, and the bottom surface of the sliding plate and the plurality of bristles are fixed to each other.

[0009] Preferably, a rotation groove is formed on the bottom surface of the second fixing ring, and the driving device comprises a connecting rope and an arc-shaped piece, one end of the connecting rope is fixed to the side wall of the slide plate close to the axis of the first fixing ring, and the arc-shaped piece is rotatably connected to the rotation groove; It also includes a micro cylinder, which is fixed to the upper surface and the bottom surface of the arc-shaped sheet.

[0010] Preferably, a return spring is fixed on the side wall of the slide plate away from the connecting rope, and the other end of the return spring is fixed on the inner wall of the sliding groove.

[0011] Preferably, a rubber sheet is fixed to the end of the piston rod of the micro cylinder.

[0012] Preferably, a stabilizing groove is provided on the inner wall of the rotating groove, a stabilizing plate is rotatably arranged in the stabilizing groove, and the stabilizing plate and the arc-shaped plate are fixed to each other.

[0013] Preferably, a first silicone sheet is fixed on two opposite inner walls of the rotating groove, and a second silicone sheet is fixed on two opposite side walls of the arc-shaped sheet.

[0014] Preferably, the bristles are made of pig bristles.

[0015] Preferably, the upper ends of the plurality of bristles are each provided with a plastic ring for binding the bristles.

[0016] The advantages and beneficial effects of the present invention compared to the prior art are as follows: The present invention provides components such as a support structure, a stator, a rotor, a connecting column, a cooling structure, and a heat dissipation structure, and can input current into the stator to generate a rotating magnetic field, and then the rotor is affected by the magnetic field generated by the stator to generate a rotating motion. Then the cooling structure continuously absorbs the heat generated by the stator, and then the heat dissipation structure dissipates the heat from the cooling structure, thereby improving the heat dissipation effect of the frameless motor for the humanoid robot.

[0017] When the staff drives the joint of the robot, the staff needs to connect the frameless motor with the joint of the robot to keep the frameless motor stable. Furthermore, the staff only needs to energize the coil on the stator to rotate the rotor, thereby driving the joint of the robot to move. In this process, the cooling structure continuously absorbs the heat generated by the stator, and the cooling fan rotates with the rotor, so that the cooling fan dissipates heat from the cooling structure, thereby improving the stability of the frameless motor operation. Subsequently, after the cooling fan has been used for a period of time, the staff needs to clean the cooling fan. At this time, the staff needs to turn on the drive device so that the bristles can extend outward, so that one end of the bristles can contact the cooling fan. Furthermore, the staff only needs to turn off the drive device and energize the coil on the stator to rotate the rotor and the cooling fan, so that the bristles can clean the cooling fan, thereby reducing the difficulty of cleaning the cooling fan for the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure from a first viewing angle of the present invention; Figure 2 It is a schematic diagram of the heat dissipation fan structure used for highlighting of the present invention; Figure 3 It is a structural schematic diagram for highlighting the rotor of the present invention; Figure 4 It is a schematic diagram of the structure of the present invention for highlighting the cleaning component; Figure 5 It is a schematic diagram of the structure of the present invention for highlighting the plastic ring; Figure 6 This is a schematic diagram of the structure of the present invention for highlighting the second silicone sheet; Figure 7 It is a structural schematic diagram for highlighting the return spring of the present invention.

[0019] In the figure: 1. supporting structure; 11. stator; 2. rotor; 21. connecting column; 3. cooling structure; 31. cooling fan; 4. cleaning component; 41. first fixing ring; 42. connecting rod; 43. second fixing ring; 431. placement groove; 44. bristles; 45. rotating groove; 5. driving device; 51. connecting rope; 52. arc-shaped sheet; 53. micro cylinder; 6. sliding groove; 61. slide plate; 7. reset spring; 71. rubber sheet; 8. stabilizing groove; 81. stabilizing sheet; 82. first silicone sheet; 83. second silicone sheet; 9. plastic ring. DETAILED DESCRIPTION

[0020] 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. Example 1

[0021] See also Figures 1 to 7 The present invention preferably provides a technical solution: a frameless motor for a robot, comprising a support structure 1, and a stator 11 arranged on the support structure 1, and also comprising a rotor 2 arranged on the support structure 1, for performing rotational motion under the influence of the magnetic field generated by the stator 11; a connecting column 21, the surface of which is fixedly connected to the inside of the rotor 2, for connecting the robot joint; a cooling structure 3, which is located in the support structure 1 and is used to transfer the heat generated by the stator 11; a cooling fan 31, which is fixed to the top of the rotor 2 and is used to take away the heat transferred from the cooling structure 3; and also comprising a cleaning component 4, which is arranged on the cooling fan 31 and is used to clean the cooling fan 31.

[0022] In this embodiment, the present invention provides components such as a support structure 1, a stator 11, a rotor 2, a connecting column 21, a cooling structure 3, and a heat dissipation structure, and can input current into the stator 11 to generate a rotating magnetic field, thereby causing the rotor 2 to generate a rotating motion under the influence of the magnetic field generated by the stator 11. Then, the cooling structure 3 continuously absorbs the heat generated by the stator 11, and then the heat dissipation structure dissipates the heat from the cooling structure 3, thereby improving the heat dissipation effect of the frameless motor for the humanoid robot.

[0023] Specifically, when the staff drives the joints of the robot, the staff needs to connect the frameless motor and the joints of the robot to each other, so that the frameless motor can remain stable. Furthermore, the staff only needs to energize the coil on the stator 11 to rotate the rotor 2, thereby driving the robot's joints to move. When the rotor 2 rotates, the cooling structure 3 continues to absorb the heat generated by the stator 11, and the cooling fan 31 rotates with the rotor 2, so that the cooling fan 31 dissipates heat from the cooling structure 3, thereby improving the stability of the frameless motor operation; It is worth noting that the cooling structure 3 is mainly composed of heat-conducting fins. When the first side of the heat-conducting fins is in contact with the stator 11 coil, and when the second side of the heat-conducting fins is in contact with the stator 11 coil, the heat-conducting fins can quickly transfer the heat generated when the stator 11 coil is energized, thereby quickly reducing the temperature of the stator 11. In order to improve the stability of the cooling structure 3, an insulation design can be made in the area where the heat-conducting fins are in contact with the stator 11 coil, or the entire area of ​​the heat-conducting fins can be insulated. For example, different insulation treatment schemes can be adopted according to the different materials of the heat-conducting fins. For example, if the material of the heat-conducting fins is aluminum alloy, the aluminum alloy can be insulated anodized or electrostatically sprayed with epoxy powder; if the material of the heat-conducting fins is copper alloy, the copper alloy can be sprayed with epoxy powder.

[0024] It should also be noted that the first side of the cooling structure 3 is in full contact with the stator 11 coil, and the second side of the cooling structure 3 is in full contact with the stator 11 coil, which is a relatively preferred embodiment. Considering that the stator 11 coil is easy to install on the stator 11 teeth, and considering that the cooling structure 3 is easy to insert into the gap of the stator 11 slot, there can be a reasonable tolerance between the first side of the cooling structure 3 and the stator 11 coil, and there can be a reasonable tolerance between the second side of the cooling structure 3 and the stator 11 coil, as long as it does not affect the conduction of heat generated by the cooling structure 3 to the stator 11 coil.

[0025] In the present invention, after the cooling fan 31 has been used for a period of time, the staff needs to clean the cooling fan 31. The staff needs to turn on the driving device 5 to extend the bristles 44 outward, so that one end of the bristles 44 contacts the cooling fan 31. Furthermore, the staff only needs to turn off the driving device 5 and energize the coil on the stator 11 to rotate the rotor 2 and the cooling fan 31, so that the bristles 44 clean the cooling fan 31, thereby reducing the difficulty of cleaning the cooling fan 31 for the staff.

[0026] Afterwards, when the cooling fan 31 is cleaned, the staff needs to open the micro cylinder 53 again so that the piston rod of the micro cylinder 53 can be pressed against the cooling fan 31 again. At this time, the staff only needs to change the direction of the current flowing to the stator 11 to change the direction of the magnetic field, thereby reversing the rotor 2 corresponding to the stator 11, thereby reversing the cooling fan 31. At this time, the arc-shaped sheet 52 rotates and resets with the cooling fan 31, so that the slide plate 61 and the connecting rope 51 are reset under the action of the reset spring 7, thereby separating the bristles 44 from the blades of the cooling fan 31, thereby reducing the probability that the bristles 44 interfere with the normal operation of the cooling fan 31 at this time.

[0027] Furthermore, the cleaning assembly 4 includes a first fixing ring 41 and a plurality of connecting rods 42, wherein the first fixing ring 41 is fixed to the upper surface of the supporting structure 1, and the plurality of connecting rods 42 are distributed on the inner wall of the first fixing ring 41 in a circular array; It also includes a second fixing ring 43, which is installed on a plurality of connecting rods 42. The bottom surface of the connecting rods 42 is provided with a plurality of placement grooves 431, and the plurality of placement grooves 431 are each provided with bristles 44; It also includes a driving device 5, which is arranged on the second fixing ring 43 and is used to drive the bristles 44 to move.

[0028] Furthermore, a sliding groove 6 is commonly formed on the inner top walls of the plurality of placement grooves 431 , a slide plate 61 is slidably disposed in the sliding groove 6 , and the bottom surface of the slide plate 61 and the plurality of bristles 44 are fixed to each other.

[0029] As shown in the figure, when the staff needs to clean the cooling fan 31, the staff needs to turn on the driving device 5, so that the slide plate 61 can move in the direction close to the axis of the first fixed ring 41 under the action of the driving device 5, so that the multiple bristles 44 can move with the slide plate 61 at the same time, so that one end of the multiple bristles 44 can move downward and contact with the cooling fan 31 (the state shown in the figure is after the bristles 44 have been extended). At this time, the staff only needs to power the stator 11 to rotate the rotor 2, so that the cooling fan 31 fixed to the rotor 2 rotates, and then the cooling fan 31 continues to contact with the bristles 44, so that the bristles 44 clean the cooling fan 31. There is no need to remove the cooling fan 31, which reduces the difficulty of cleaning the cooling fan 31 for the staff.

[0030] Furthermore, a rotation groove 45 is formed on the bottom surface of the second fixing ring 43, and the driving device 5 includes a connecting rope 51 and an arc-shaped piece 52, one end of the connecting rope 51 is fixed to the side wall of the slide plate 61 close to the axis of the first fixing ring 41, and the arc-shaped piece 52 is rotatably connected to the rotation groove 45; The micro cylinder 53 is also included, and the micro cylinder 53 is fixed to the upper surface and the bottom surface of the arc-shaped piece 52 .

[0031] Furthermore, a return spring 7 is fixed on the side wall of the slide plate 61 away from the connecting rope 51 , and the other end of the return spring 7 is fixed on the inner wall of the sliding groove 6 .

[0032] When the staff needs to clean the cooling fan 31, the staff needs to turn on the micro cylinder 53, so that the piston rod of the micro cylinder 53 can be moved downward, and then the piston rod of the micro cylinder 53 is pressed against the upper surface of the cooling fan 31. At this time, the staff only needs to turn on the cooling fan 31 to rotate the cooling fan 31, so that the micro cylinder 53 and the arc sheet 52 follow the rotation of the cooling fan 31, so that the connecting rope 51 moves in the direction close to the axis of the first fixing ring 41 under the action of the arc sheet 52, and then the slide plate 61 and the plurality of bristles 44 move in the direction close to the axis of the first fixing ring 41 under the action of the connecting rope 51, so that the bristles 44 continue to move downward and finally contact the blades of the cooling fan 31. Further, the staff needs to reset the piston rod of the micro cylinder 53, so that the slide plate 61 can remain stable under the action of the static friction of the arc sheet 52. At this time, the staff only needs to turn on the cooling fan 31, so that the bristles 44 can clean the blades of the cooling fan 31.

[0033] Afterwards, when the staff has finished cleaning, the staff needs to open the micro cylinder 53 again, so that the piston rod of the micro cylinder 53 is pressed against the cooling fan 31, and the direction of the current flowing to the stator 11 is changed, so that the rotor 2 can be reversed, thereby reversing the cooling fan 31, and then resetting the arc piece 52, so that the slide plate 61 and the connecting rope 51 are reset under the action of the reset spring 7, and then the bristles 44 are separated from the blades of the cooling fan 31, thereby reducing the probability of the bristles 44 interfering with the normal operation of the cooling fan 31 at this time.

[0034] It should also be noted that in order to extend the service life of the connecting rope 51, the connecting rope 51 can be made of a material with good wear resistance such as nylon and polyester, which can effectively improve the user experience of the frameless motor.

[0035] Furthermore, a rubber sheet 71 is fixed to the end of the piston rod of the micro cylinder 53 .

[0036] The rubber sheet 71 reduces the tightness of the connection between the piston rod of the micro cylinder 53 and the cooling fan 31 , and buffers the piston rod of the micro cylinder 53 , thereby reducing the probability of damage to the surface of the cooling fan 31 , thereby effectively extending the service life of the cooling fan 31 .

[0037] Furthermore, a stabilizing groove 8 is formed on the inner wall of the rotating groove 45 , and a stabilizing plate 81 is rotatably disposed in the stabilizing groove 8 , and the stabilizing plate 81 and the arc-shaped plate 52 are fixed to each other.

[0038] The stabilizing sheet 81 improves the stability of the arc-shaped sheet 52 , reduces the probability of the arc-shaped sheet 52 and the rotating groove 45 being separated from each other, and thus improves the user experience of the staff.

[0039] Furthermore, a first silicone sheet 82 is fixed on two opposite inner walls of the rotating groove 45 , and a second silicone sheet 83 is fixed on two opposite side walls of the arc-shaped sheet 52 .

[0040] Silica gel is also known as silica gel, which is a highly active adsorption material and is an amorphous substance. Silica gel has a strong adsorption capacity. When two pieces of silica gel are in contact with each other, the silica gels can adsorb each other. The first silica gel sheet 82 and the second silica gel sheet 83 made of silica gel have a strong adsorption capacity. When the first silica gel sheet 82 and the second silica gel sheet 83 are in contact with each other, the first silica gel sheet 82 and the second silica gel sheet 83 adsorb each other, thereby keeping the arc sheet 52 stable, thereby reducing the probability of the arc sheet 52 being reset under the action of the reset spring 7 at this time, thereby improving the user experience of the staff.

[0041] Furthermore, the bristles 44 are made of pig bristles.

[0042] Pig bristle refers to the bristles that grow on the neck and back of a pig and are longer than 5 cm. They are tough and elastic, not easy to deform, resistant to moisture, and not affected by heat or cold. They are the main raw material for industrial and military brushes. They are traditional Chinese export materials, and their export volume ranks first in the world. The bristles 44 made of pig bristles have good elasticity and are not easy to deform, thereby reducing the probability of irreversible deformation of the bristles 44 during the process of the staff moving the bristles 44, which is conducive to extending the service life of the bristles 44.

[0043] Furthermore, a plastic ring 9 for binding the bristles 44 is disposed at the upper end of each of the bristles 44 .

[0044] The plastic ring 9 reduces the probability of continuous friction at the ends of the bristles 44 during the movement of the bristles 44, thereby reducing the probability of some bristles 44 curling up, thereby improving the user experience of the staff.

[0045] 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 frameless motor for a robot, characterized in that: include: A support structure, and a stator disposed on the support structure, and also a rotor disposed on the support structure, configured to perform rotational motion under the influence of a magnetic field generated by the stator; A connecting column, the surface of which is fixedly connected to the inside of the rotor and is used to connect the robot joint; A cooling structure, the cooling structure is located in the supporting structure and is used to transfer heat generated by the stator; A cooling fan, which is fixed to the top of the rotor and is used to take away the heat transferred from the cooling structure; A cleaning component is arranged on the cooling fan and is used for cleaning the cooling fan.

2. A frameless motor for a robot according to claim 1, characterized in that: The cleaning component comprises: A first fixing ring, and a plurality of connecting rods, wherein the first fixing ring is fixed to the upper surface of the supporting structure, and the plurality of connecting rods are distributed on the inner wall of the first fixing ring in a circumferential array; A second fixing ring, wherein the second fixing ring is mounted on a plurality of connecting rods, a plurality of placement grooves are formed on the bottom surface of the connecting rods, and bristles are disposed in the plurality of placement grooves; A driving device is arranged on the second fixed ring and is used for driving the bristles to move.

3. A frameless motor for a robot according to claim 2, characterized in that: The inner top walls of the plurality of placement grooves are commonly provided with a sliding groove, in which a sliding plate is slidably arranged, and the bottom surface of the sliding plate and the plurality of bristles are fixed to each other.

4. A frameless motor for a robot according to claim 3, characterized in that: A rotation groove is provided on the bottom surface of the second fixed ring, and the driving device includes a connecting rope and an arc-shaped piece. One end of the connecting rope is fixed to the side wall of the slide plate close to the axis of the first fixed ring, and the arc-shaped piece is rotatably connected to the rotation groove; it also includes a micro cylinder, and the micro cylinder is fixed to the upper surface and the bottom surface of the arc-shaped piece.

5. A frameless motor for a robot according to claim 4, characterized in that: A return spring is fixed on the side wall of the slide plate away from the connecting rope, and the other end of the return spring is fixed on the inner wall of the sliding groove.

6. A frameless motor for a robot according to claim 4, characterized in that: A rubber sheet is fixed on the end of the piston rod of the micro cylinder.

7. A frameless motor for a robot according to claim 4, characterized in that: A stabilizing groove is provided on the inner wall of the rotating groove, a stabilizing sheet is rotatably arranged in the stabilizing groove, and the stabilizing sheet and the arc-shaped sheet are fixed to each other.

8. A frameless motor for a robot according to claim 6, characterized in that: A first silicone sheet is fixed on two opposite inner walls of the rotating groove, and a second silicone sheet is fixed on two opposite side walls of the arc-shaped sheet.

9. A frameless motor for a robot according to claim 2, characterized in that: The bristles are made of pig bristles.

10. A frameless motor for a robot according to claim 2, characterized in that: The upper ends of the plurality of bristles are each provided with a plastic ring for binding the bristles.

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