A frameless motor for a robot

Abstract

The present invention discloses a frameless motor for a robot, which relates to the technical field of frameless motors. It includes a support structure, and a stator arranged on the support structure. It further includes a rotor arranged on the support structure, which is used to perform a rotational motion under the influence of the magnetic field generated by the stator; a connecting column, the surface of the connecting column 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 inside the support structure and is used to transfer the heat generated by the stator; a cooling fan, the cooling fan is fixedly connected to the top of the rotor and is used to take away the heat transferred on the cooling structure; it further includes a cleaning component, the cleaning component is arranged on the cooling fan and is used to clean the cooling fan. The present invention cleans the cooling fan through the cleaning component arranged on the cooling fan, and the bristles can be freely adjusted to contact the cooling fan or not, thereby reducing the difficulty for the staff to clean the cooling fan.

Description

Technical Field

[0001] The present invention relates to the technical field of frameless motors, and specifically to a frameless motor for robots. 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 high 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 fast response, which is crucial for achieving smooth and natural movements of the robots.

[0003] For example, a new frameless torque motor for humanoid robots (Publication No.: CN118842257B), this device includes a support structure; a stator for generating a rotating magnetic field, the number of the stators is several and they are evenly distributed, and one 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, and the rotor is located at the axis of the support structure.

[0004] However, this device still has the following defects: The above device drives the air flow by the rotation of the fan blades to dissipate heat from the heat dissipation fins. After long-term use, impurities are likely to adhere to the fan blades. Most frameless motors are installed on the joints of the robot, and the frameless motor is protected by components such as the housing. When cleaning, the staff needs to remove the frameless motor, and the operation of cleaning after removal is difficult and the user experience is poor. Summary of the Invention

[0005] The purpose of the present invention is to provide a frameless motor for robots, which can clean the cooling fan through a cleaning component arranged on the cooling fan, and can freely adjust whether the bristles are in contact with the cooling fan, thereby reducing the difficulty for the staff to clean the cooling fan.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A frameless motor for robots, including a support structure, and a stator arranged on the support structure, further including a rotor arranged on the support structure for making a rotational motion under the influence of the magnetic field generated by the stator; a connecting column, the surface of the connecting column is fixedly connected to the inside of the rotor for connecting the robot joint; a temperature reduction structure located inside the support structure for transferring the heat generated by the stator; a cooling fan fixedly connected to the top of the rotor for taking away the heat transferred by the temperature reduction structure; and further including a cleaning component arranged on the cooling fan for cleaning the cooling fan.

[0007] Preferably, the cleaning assembly includes a first fixing ring and a plurality of connecting rods. The first fixing ring is fixed on the upper surface of the support structure, and the plurality of connecting rods are circumferentially and arrayedly distributed on the inner wall of the first fixing ring;

[0008] It further includes a second fixing ring which is commonly installed on the plurality of connecting rods. A plurality of placement grooves are formed in the bottom surface of the connecting rods, and a plurality of brush bristles are arranged in the plurality of placement grooves;

[0009] It further includes a driving device which is arranged on the second fixing ring and is used for driving the brush bristles to move.

[0010] Preferably, a sliding groove is commonly formed in the inner top walls of the plurality of placement grooves, a sliding plate is slidably arranged in the sliding groove, and the bottom surface of the sliding plate is fixedly connected to all the plurality of brush bristles.

[0011] Preferably, a rotating groove is formed in the bottom surface of the second fixing ring. The driving device includes a connecting rope and an arc-shaped piece. One end of the connecting rope is fixedly connected to the side wall of the sliding plate close to the axis of the second fixing ring, and the arc-shaped piece is rotatably connected to the rotating groove;

[0012] It further includes a micro cylinder, and the upper surface of the micro cylinder is fixedly connected to the bottom surface of the arc-shaped piece.

[0013] Preferably, a return spring is fixed to the side wall of the sliding plate away from the connecting rope, and the other end of the return spring is fixed to the inner wall of the sliding groove.

[0014] Preferably, a rubber sheet is fixed to the end of the piston rod of the micro cylinder.

[0015] Preferably, a stabilizing groove is formed in the inner wall of the rotating groove, a stabilizing piece is rotatably arranged in the stabilizing groove, and the stabilizing piece is fixedly connected to the arc-shaped piece.

[0016] Preferably, first silica gel sheets are fixed to two opposite inner walls of the rotating groove, and second silica gel sheets are fixed to two opposite side walls of the arc-shaped piece.

[0017] Preferably, the brush bristles are made of hog bristles.

[0018] Preferably, plastic rings for binding the brush bristles are arranged at the upper ends of the plurality of brush bristles.

[0019] The advantages and beneficial effects of the present invention compared with the prior art are as follows:

[0020] By arranging components such as a support structure, a stator, a rotor, a connecting column, a cooling structure, and a heat dissipation structure, the present invention can input current to 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. Furthermore, the cooling structure continuously absorbs the heat generated by the stator, and then the heat dissipation structure dissipates heat from the cooling structure, thereby improving the heat dissipation effect of the frameless motor for humanoid robots.

[0021] When a staff member operates on the joint of the driving robot, the staff member needs to connect the frameless motor to the joint of the robot to keep the frameless motor stable. Further, the staff member only needs to energize the coil on the stator to make the rotor rotate, thereby driving the movement of the joint of the robot. During 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 operating stability of the frameless motor. Subsequently, when the cooling fan has been used for a period of time, the staff member needs to clean the cooling fan. At this time, the staff member needs to activate the driving device to make the brush extend outwards, and then one end of the brush contacts the cooling fan. Further, the staff member only needs to turn off the driving device and energize the coil on the stator to make the rotor and the cooling fan rotate, so that the brush cleans the cooling fan, thereby reducing the difficulty for the staff member to clean the cooling fan. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a first perspective three-dimensional structural schematic diagram of the present invention;

[0023] Figure 2 is a structural schematic diagram of the cooling fan highlighted in the present invention;

[0024] Figure 3 is a structural schematic diagram of the rotor highlighted in the present invention;

[0025] Figure 4 is a structural schematic diagram of the cleaning component highlighted in the present invention;

[0026] Figure 5 is a structural schematic diagram of the plastic ring highlighted in the present invention;

[0027] Figure 6 is a structural schematic diagram of the second silicone sheet highlighted in the present invention;

[0028] Figure 7 is a structural schematic diagram of the return spring highlighted in the present invention.

[0029] In the figure: 1. Support 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. Brush bristles; 45. Rotating groove; 5. Driving device; 51. Connecting rope; 52. Arc-shaped piece; 53. Micro cylinder; 6. Sliding groove; 61. Slide plate; 7. Return spring; 71. Rubber sheet; 8. Stabilizing groove; 81. Stabilizing piece; 82. First silicone sheet; 83. Second silicone sheet; 9. Plastic ring. Detailed implementation mode

[0030] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown 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, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive. Embodiment 1

[0031] Please refer to Figures 1 to 7 , the present invention preferably provides a technical solution: a frameless motor for a robot, including a support structure 1, and a stator 11 arranged on the support structure 1, and further including a rotor 2 arranged on the support structure 1, which is used to make a rotational movement under the influence of the magnetic field generated by the stator 11; a connecting column 21, the surface of the connecting column 21 is fixedly connected to the inside of the rotor 2, and is used to connect the robot joint; a cooling structure 3, the cooling structure 3 is located inside the support structure 1, and is used to transfer the heat generated by the stator 11; a cooling fan 31, the cooling fan 31 is fixedly connected to the top of the rotor 2, and is used to take away the heat transferred on the cooling structure 3; and further including a cleaning component 4, the cleaning component 4 is arranged on the cooling fan 31, and is used to clean the cooling fan 31.

[0032] In this embodiment, by setting components such as the support structure 1, the stator 11, the rotor 2, the connecting column 21, the cooling structure 3, and the heat dissipation structure, the present invention can input current to the stator 11 to generate a rotating magnetic field, and then the rotor 2 is affected by the magnetic field generated by the stator 11 to generate a rotational movement. Furthermore, the cooling structure 3 continuously absorbs the heat generated by the stator 11, and then the heat dissipation structure dissipates the heat of the cooling structure 3, thereby improving the heat dissipation effect of the frameless motor for a humanoid robot.

[0033] Specifically, when the staff operates the joints of the driving robot, the staff needs to connect the frameless motor to the joints of the robot, so as to keep the frameless motor stable. Further, the staff only needs to energize the coil on the stator 11 to make the rotor 2 rotate, thereby driving the joints of the robot to move. When the rotor 2 rotates, the cooling structure 3 continuously absorbs 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 operating stability of the frameless motor;

[0034] It should be noted that: The cooling structure 3 is mainly composed of heat-conducting fins. When the first side of the heat-conducting fin is in contact with the stator 11 coil, and when the second side of the heat-conducting fin is in contact with the stator 11 coil, the heat-conducting fin 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 fin is in contact with the stator 11 coil, or the entire area of the heat-conducting fin can be made with an insulation design. 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 fin is aluminum alloy, the aluminum alloy can be subjected to insulating anodization or electrostatic spraying of epoxy powder; if the material of the heat-conducting fin is copper alloy, the copper alloy can be sprayed with epoxy powder.

[0035] In addition, it should also be noted that the full contact between the first side of the cooling structure 3 and the stator 11 coil, and the full contact between the second side of the cooling structure 3 and the stator 11 coil are relatively preferred embodiments. Considering that it is convenient to install the stator 11 coil on the stator 11 teeth, and considering that it is convenient to insert the cooling structure 3 into the gap of the stator 11 slot, a reasonable tolerance can exist between the first side of the cooling structure 3 and the stator 11 coil, and a reasonable tolerance can exist between the second side of the cooling structure 3 and the stator 11 coil, as long as it does not affect the conduction of the heat generated by the stator 11 coil by the cooling structure 3.

[0036] In the present invention, when the cooling fan 31 has been used for a period of time, the staff needs to clean the cooling fan 31. The staff only needs to turn on the driving device 5 to make the brush bristles 44 extend outwards, and then one end of the brush bristles 44 comes into contact with the cooling fan 31. Further, the staff only needs to turn off the driving device 5 and energize the coil on the stator 11 to make the rotor 2 and the cooling fan 31 rotate, so that the brush bristles 44 clean the cooling fan 31, thereby reducing the difficulty for the staff to clean the cooling fan 31.

[0037] Subsequently, after the heat dissipation fan 31 is cleaned, the staff needs to turn on the micro cylinder 53 again, so that the piston rod of the micro cylinder 53 can press against the heat dissipation fan 31 again. At this time, the staff only needs to change the direction of the current flowing into the stator 11, so that the direction of the magnetic field can be changed, and then the rotor 2 corresponding to the stator 11 can be reversed, so that the heat dissipation fan 31 can be reversed. At this time, the arc-shaped piece 52 rotates and resets following the heat dissipation fan 31, so that the slide plate 61 and the connecting rope 51 are reset under the action of the return spring 7, and then the brush bristles 44 are separated from the fan blades of the heat dissipation fan 31, thereby reducing the probability of interference caused by the brush bristles 44 to the normal operation of the heat dissipation fan 31 at this time.

[0038] Further, the cleaning assembly 4 includes a first fixing ring 41 and a plurality of connecting rods 42. The first fixing ring 41 is fixed on the upper surface of the support structure 1, and the plurality of connecting rods 42 are distributed in a circumferential array on the inner wall of the first fixing ring 41;

[0039] It further includes a second fixing ring 43, the second fixing ring 43 is jointly installed on the plurality of connecting rods 42, a plurality of placement grooves 431 are formed in the bottom surface of the connecting rod 42, and brush bristles 44 are arranged in the plurality of placement grooves 431;

[0040] It further includes a driving device 5, the driving device 5 is arranged on the second fixing ring 43 and is used to drive the brush bristles 44 to move.

[0041] Further, the inner top walls of the plurality of placement grooves 431 jointly form a sliding groove 6, a slide plate 61 is slidably arranged in the sliding groove 6, and the bottom surface of the slide plate 61 is fixedly connected to the plurality of brush bristles 44.

[0042] As shown in the figure, when the staff needs to clean the heat dissipation 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 fixing ring 41 under the action of the driving device 5, and then the plurality of brush bristles 44 will move simultaneously following the slide plate 61, and then one end of the plurality of brush bristles 44 will move downward and contact the heat dissipation fan 31 (the state shown in the figure is after the brush bristles 44 have extended). At this time, the staff only needs to energize the stator 11, so that the rotor 2 can rotate, and then the heat dissipation fan 31 fixedly connected to the rotor 2 can rotate, so that the heat dissipation fan 31 continuously contacts the brush bristles 44, so that the brush bristles 44 can clean the heat dissipation fan 31. There is no need to remove the heat dissipation fan 31, thereby reducing the difficulty for the staff to clean the heat dissipation fan 31.

[0043] Further, a rotation groove 45 is formed in the bottom surface of the second fixing ring 43. 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 sliding plate 61 close to the axis of the second fixing ring 43, and the arc-shaped piece 52 is rotatably connected to the rotation groove 45;

[0044] It further includes a micro cylinder 53, and the upper surface of the micro cylinder 53 is fixed to the bottom surface of the arc-shaped piece 52.

[0045] Further, a return spring 7 is fixed to the side wall of the sliding plate 61 away from the connecting rope 51, and the other end of the return spring 7 is fixed to the inner wall of the sliding groove 6.

[0046] 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 moves downward, and then the piston rod of the micro cylinder 53 presses against the upper surface of the cooling fan 31. At this time, the staff only needs to turn on the cooling fan 31, so that the cooling fan 31 rotates, and then the micro cylinder 53 and the arc-shaped piece 52 rotate with 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-shaped piece 52, and then the sliding plate 61 and a plurality of brush hairs 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 brush hairs 44 continue to move downward and finally contact the fan blades of the cooling fan 31. Further, the staff needs to reset the piston rod of the micro cylinder 53, so that the sliding plate 61 can be kept stable under the action of the static friction force of the arc-shaped piece 52. At this time, the staff only needs to turn on the cooling fan 31, so that the brush hairs 44 can clean the fan blades of the cooling fan 31.

[0047] Subsequently, after the staff finishes cleaning, the staff needs to turn on the micro cylinder 53 again, make the piston rod of the micro cylinder 53 press against the cooling fan 31, and change the direction of the current flowing to the stator 11, so that the rotor 2 rotates reversely, so that the cooling fan 31 rotates reversely, and then the arc-shaped piece 52 resets, so that the sliding plate 61 and the connecting rope 51 reset under the action of the return spring 7, and then the brush hairs 44 are separated from the fan blades of the cooling fan 31, thereby reducing the probability that the brush hairs 44 interfere with the normal operation of the cooling fan 31 at this time.

[0048] In addition, it should be noted that in order to extend the service life of the connecting rope 51, the connecting rope 51 can be made of materials with better wear resistance such as nylon and polyester, which can effectively improve the use experience of the frameless motor.

[0049] Further, a rubber sheet 71 is fixed to the end of the piston rod of the micro cylinder 53.

[0050] The rubber sheet 71 reduces the connection tightness 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, and effectively extending the service life of the cooling fan 31.

[0051] Further, a stabilizing groove 8 is formed in the inner wall of the rotating groove 45, and a stabilizing piece 81 is rotatably arranged in the stabilizing groove 8, and the stabilizing piece 81 is fixedly connected to the arc-shaped piece 52.

[0052] The stabilizing piece 81 improves the stability of the arc-shaped piece 52, reduces the probability of the arc-shaped piece 52 being separated from the rotating groove 45, and thus improves the user experience of the staff.

[0053] Further, first silica gel sheets 82 are fixedly arranged on two opposite inner walls of the rotating groove 45, and second silica gel sheets 83 are fixedly arranged on two opposite side walls of the arc-shaped piece 52.

[0054] Silica gel alias: silica gel, is a highly active adsorbent material, belonging to the amorphous substance. Silica gel has a strong adsorption capacity. When two pieces of silica gel come into contact with each other, they 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 come into contact with each other, the first silica gel sheet 82 and the second silica gel sheet 83 adsorb each other, so that the arc-shaped piece 52 is kept stable, and the probability of the arc-shaped piece 52 being reset under the action of the return spring 7 is reduced, thereby improving the user experience of the staff.

[0055] Further, the brush bristles 44 are made of hog bristles.

[0056] Hog bristles refer to the bristles more than 5 cm long growing on the neck and back of pigs. The brush bristles 44 made of hog bristles have good elasticity and are not easy to deform, thereby reducing the probability of irreversible deformation of the brush bristles 44 during the process of the staff moving the brush bristles 44, and thus being beneficial to extending the service life of the brush bristles 44.

[0057] Further, plastic rings 9 for binding the brush bristles 44 are arranged at the upper ends of the plurality of brush bristles 44.

[0058] The plastic ring 9 reduces the probability of continuous friction at the ends of the brush bristles 44 during the movement of the brush bristles 44, and thus reduces the probability of some brush bristles 44 warping, thereby improving the user experience of the staff.

[0059] The above-described embodiments merely represent several embodiments of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A frameless motor for a robot, characterized in that, Comprising: A support structure, a stator disposed on the support structure, and further comprising a rotor disposed on the support structure for performing a rotational movement under the influence of the magnetic field generated by the stator; A connecting column, the surface of the connecting column being fixedly connected to the inside of the rotor for connecting a robot joint; A cooling structure, the cooling structure being located inside the support structure for transferring the heat generated by the stator; A cooling fan, the cooling fan being fixedly connected to the top of the rotor for taking away the heat transferred on the cooling structure; A cleaning assembly, the cleaning assembly being disposed on the cooling fan for cleaning the cooling fan; The cleaning assembly includes: A first fixing ring, and a plurality of connecting rods, the first fixing ring being fixed on the upper surface of the support structure, and the plurality of connecting rods being circumferentially and arrayedly distributed on the inner wall of the first fixing ring; A second fixing ring, the second fixing ring being commonly mounted on the plurality of connecting rods, a plurality of placement grooves being formed in the bottom surface of the connecting rods, and a plurality of brush hairs being disposed in the plurality of placement grooves; A driving device, the driving device being disposed on the second fixing ring for driving the brush hairs to move; A sliding groove is commonly formed in the inner top wall of the plurality of placement grooves, a sliding plate is slidably disposed in the sliding groove, and the bottom surface of the sliding plate is fixedly connected to all the plurality of brush hairs; A rotating groove is formed in the bottom surface of the second fixing ring, the driving device includes a connecting rope and an arc-shaped piece, one end of the connecting rope being fixedly connected to the side wall of the sliding plate close to the axis of the second fixing ring, and the arc-shaped piece being rotatably connected to the rotating groove; and further comprising a micro cylinder, the upper surface of the micro cylinder being fixedly connected to the bottom surface of the arc-shaped piece.

2. The frameless motor for a robot according to claim 1, wherein, A return spring is fixed to the side wall of the sliding plate away from the connecting rope, and the other end of the return spring is fixed to the inner wall of the sliding groove.

3. The frameless motor for a robot according to claim 2, characterized in that, A rubber sheet is fixed to the end of the piston rod of the micro cylinder.

4. A frameless motor for a robot according to claim 3, characterized in that, A stabilizing groove is formed in the inner wall of the rotating groove, a stabilizing piece is rotatably disposed in the stabilizing groove, and the stabilizing piece is fixedly connected to the arc-shaped piece.

5. A frameless motor for a robot according to claim 4, characterized in that, First silica gel sheets are fixed to two opposite inner walls of the rotating groove, and second silica gel sheets are fixed to two opposite side walls of the arc-shaped piece.

6. A frameless motor for a robot according to claim 1, characterized in that, The brush hairs are made of boar bristles.

7. A frameless motor for a robot according to claim 1, characterized in that, Plastic rings for binding the brush hairs are disposed at the upper ends of the plurality of brush hairs.

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