A rotor-balanced frameless motor and a robot

Abstract

The present invention discloses a rotor-balanced frameless motor and a robot, comprising a connector, a supporting base plate, a supporting structure, a stator and a rotor, wherein the supporting structure cooperates with the upper surface of the supporting base plate, and the stator is fixedly arranged on the inner side of the supporting structure; the rotor is located at the axis of the supporting structure, and a connecting column is provided at one end of the rotor; a balancing adjustment component for adjusting the center of gravity of the rotor is provided on the outer arc surface of the rotor; a size adjustment component for installing rotors of different sizes is provided on the upper surface of the connector; the height of a group of adjusting splints and a fixing splint is adjusted by a height adjustment module, thereby ensuring that the adjusting splint and the fixing splint can install rotors of different heights, and the distance between the two groups of adjusting splints and the corresponding fixing splints is adjusted by a diameter adjustment module, thereby installing rotors of different diameters, so that the frameless motor can be suitable for the rotation of motors of various specifications and sizes, greatly improving the overall adjustability of the motor.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and in particular relates to a rotor-balanced frameless motor and a robot. Background Art

[0002] In modern industrial production and advanced robotics applications, motors are key power output components, and their performance directly impacts the operational stability and efficiency of the entire device or system. Due to their unique structural design, frameless motors are widely used in applications requiring compactness, dynamic response, and high-precision control, such as humanoid robots, medical equipment, and precision industrial automation equipment.

[0003] However, existing frameless motors generally face the problem of difficulty in effectively ensuring the balance of the motor rotor during actual operation. As the core component of the motor to achieve energy conversion and power output, the motor rotor will cause a series of serious problems when it rotates at high speed if its mass distribution is uneven or it is disturbed by external factors, resulting in a shift in the center of gravity. At the same time, with the continuous advancement of science and technology and the increasing diversification of application needs, different industries and fields have put forward more extensive and personalized requirements for the specifications and performance parameters of frameless motors. In the design and manufacturing process, existing frameless motors are often customized for specific application scenarios and specification requirements, which leads to obvious deficiencies in their versatility and adjustability. When motor rotors of different diameters and lengths are required in the same equipment or system to meet different work tasks or adapt to different installation spaces, existing frameless motors are usually not directly adaptable, and the entire motor structure and even the equipment system need to be redesigned and modified on a large scale, which not only consumes a lot of time, manpower and material resources, but also seriously affects the product's R&D cycle and market competitiveness.

[0004] To sum up, how to develop a new frameless motor that can effectively solve the problem of motor rotor balance, while having good versatility and adjustability, and can easily and quickly adapt to the installation requirements of motor rotors of various specifications and sizes has become a key issue that needs to be urgently solved in the current field of motor technology. Summary of the Invention

[0005] The purpose of the present invention is to provide a rotor-balanced frameless motor and a robot, which adjusts the height of a set of adjusting plates and a fixed plate through a height adjustment module, thereby ensuring that the adjusting plates and the fixed plates can install rotors of different heights, and adjusts the distance between the two sets of adjusting plates and the corresponding fixed plates through a diameter adjustment module, thereby installing rotors of different diameters, thereby solving the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A rotor-balanced frameless motor comprises a connector, a support base, a support structure, a stator and a rotor, wherein the support structure cooperates with the upper surface of the support base, and the stator is fixedly arranged inside the support structure;

[0008] The rotor is located at the axis of the support structure, and a connecting column is provided at one end of the rotor;

[0009] The outer arc surface of the rotor is provided with a balance adjustment component for adjusting the center of gravity of the rotor; the upper surface of the connector is provided with a size adjustment component for installing rotors of different sizes;

[0010] The size adjustment assembly includes an adjusting splint, a fixed splint, a height adjustment module for adjusting the height of the adjusting splint and the fixed splint, and a diameter adjustment module for adjusting the distance between the adjusting splint and the fixed splint;

[0011] The adjusting plates and the fixing plates are both provided in two groups, and the two groups of the adjusting plates and the fixing plates are located on both sides of the rotor, and the adjusting plates and the fixing plates are both provided with mounting grooves on one side close to the rotor.

[0012] Preferably, the height adjustment module includes a limit frame, a connecting plate, a screw, a moving block and a connecting structure. The limit frame is fixedly arranged on the upper surface of the connector, and the connecting plate is slidably arranged on one side of the limit frame through the moving block. The fixed splint is bolted to the side of the connecting plate away from the limit frame, and the moving block is threadedly sleeved on the outer arc surface of the screw, and the fixed splint is connected to the corresponding adjustment splint through the connecting structure.

[0013] Preferably, the moving block is configured as a convex block, a moving groove corresponding to the moving block is provided on a side of the limiting frame close to the rotor, and the screw rod is rotatably disposed inside the moving groove.

[0014] Preferably, the diameter adjustment module includes a connecting sleeve, a connecting inner plate and an electric push rod, the connecting inner plate is slidably arranged inside the connecting sleeve, the bottom end of the electric push rod is fixedly arranged on one side of the supporting base plate, the working end of the electric push rod is connected to the connecting sleeve, the connecting sleeve is fixedly connected to a group of adjustment splints, and the connecting inner plate is fixedly connected to another group of adjustment splints.

[0015] Preferably, the balance adjustment assembly includes a fixed ring, a rotating column and a configuration block, the fixed ring is fixedly sleeved on the outer arc surface of the rotor, the fixed ring is arranged inside the stator, and the rotating column and the configuration block are provided in several groups, several groups of the configuration blocks are slidably arranged inside the fixed ring, and the configuration blocks are threadedly sleeved on the corresponding outer arc surface of the rotating column.

[0016] Preferably, the configuration block is configured as a convex block, and the outer arc surface of the fixing ring is provided with a plurality of adjustment grooves corresponding to the configuration block, and a plurality of rotation columns are rotatably disposed in the corresponding adjustment grooves.

[0017] Preferably, two groups of limiting rings are symmetrically arranged on the outer arc surface of several groups of rotating columns, and several groups of rotating columns are rotatably arranged inside the fixed ring through the corresponding limiting rings, and a first limiting groove corresponding to the limiting ring is opened inside the fixed ring.

[0018] Preferably, the top end of the screw rod passes through the limit frame, the top ends of several groups of rotating columns pass through the fixing ring, and the top ends of the limit frame and the rotating columns are both provided with operating holes.

[0019] Preferably, a limiting block is fixedly provided on the lower surface of the connecting inner plate, a telescopic groove corresponding to the connecting inner plate is opened inside the connecting sleeve plate, a second limiting groove corresponding to the limiting block is opened on the upper surface of the connecting sleeve plate, and the telescopic groove and the second limiting groove are connected.

[0020] The present invention also provides a robot comprising the rotor-balanced frameless motor used above.

[0021] The advantages and beneficial effects of the present invention compared to the prior art are as follows:

[0022] The present invention provides a rotor-balanced frameless motor and robot, which adjust the height of a set of adjusting plates and a fixed plate through a height adjustment module, thereby ensuring that the adjusting plates and the fixed plate can install rotors of different heights, and adjust the distance between the two sets of adjusting plates and the corresponding fixed plates through a diameter adjustment module, thereby installing rotors of different diameters, so that the frameless motor can be suitable for the rotation of motors of various specifications and sizes, greatly improving the overall adjustability of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the frameless motor of the present invention;

[0024] Figure 2 This is an exploded schematic diagram of the frameless motor of the present invention;

[0025] Figure 3 is a cross-sectional view of a balance adjustment assembly of the present invention;

[0026] Figure 4 For the present invention Figure 2 A magnified view of the structure at center A;

[0027] Figure 5 For the present invention Figure 2 A magnified view of the structure at point B in the middle;

[0028] Figure 6For the present invention Figure 3 A magnified view of the structure at point C in the middle;

[0029] Figure 7 Schematic diagram of the robot structure of the present invention.

[0030] In the figure: 1. Connector; 2. Support base plate; 3. Support structure; 4. Connecting sleeve; 5. Connecting inner plate; 6. Stator; 7. Fixing ring; 8. Adjusting splint; 9. Connecting column; 10. Fixing splint; 11. Limiting frame; 12. Connecting plate; 13. Screw; 14. Rotor; 15. Moving block; 16. Moving slot; 17. Electric push rod; 18. First limiting slot; 19. Rotating column; 20. Configuration block; 21. Limiting ring; 22. Adjusting slot; 23. Limiting block; 24. Telescopic slot; 25. Second limiting slot; 26. Robot; 27. Joint. DETAILED DESCRIPTION

[0031] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0032] The present invention provides Figures 1-6 The rotor-balanced frameless motor includes a connector 1, a support base plate 2, a support structure 3, a stator 6 and a rotor 14. The support structure 3 is used in conjunction with the upper surface of the support base plate 2, and the stator 6 is fixedly arranged on the inner side of the support structure 3; the rotor 14 is used to generate rotational motion under the influence of the magnetic field generated by the stator 6, and the rotor 14 is located at the axis of the support structure 3. A connecting column 9 is provided at one end of the rotor 14; the connector 1 and the support base plate 2 are used to connect the stator 6 for power supply, and the connecting column 9 is provided for connecting the joints of the robot.

[0033] Preferably, the upper surface of the connector 1 is provided with a size adjustment component for installing rotors 14 of different sizes; the size adjustment component includes an adjusting splint 8, a fixing splint 10, a height adjustment module for adjusting the height of the adjusting splint 8 and the fixing splint 10, and a diameter adjustment module for adjusting the distance between the adjusting splint 8 and the fixing splint 10; the adjusting splint 8 and the fixing splint 10 are each provided with two groups, the two groups of adjusting splints 8 and the fixing splint 10 are located on both sides of the rotor 14, and the adjusting splint 8 and the fixing splint 10 are provided with mounting grooves on one side close to the rotor 14, one group of adjusting splints 8 and the fixing splint 10 are located on both sides above the rotor 14, and the other group of adjusting splints 8 and the fixing splint 10 are located on both sides below the rotor 14, and the fixing splint 10 located below is fixedly provided on one side of the supporting base plate 2, and the technical effect of installing rotors 14 of different sizes is achieved by cooperating with the mounting grooves on the sides of the adjusting splint 8 and the fixing splint 10, thereby solving the technical problem of needing to produce corresponding support structures when replacing rotors 14 of different sizes.

[0034] It is worth noting that the height adjustment module includes a limit frame 11, a connecting plate 12, a screw rod 13, a moving block 15 and a connecting structure.

[0035] Among them, the limit frame 11 is fixedly set on the upper surface of the connector 1, the connecting plate 12 is slidably set on one side of the limit frame 11 through the moving block 15, the fixed clamping plate 10 is bolted to the side of the connecting plate 12 away from the limit frame 11, and the moving block 15 is threadedly sleeved on the outer arc surface of the screw rod 13, and the fixed clamping plate 10 is connected to the corresponding adjustment clamping plate 8 through a connecting structure; the moving block 15 is set as a protrusion, and the side of the limit frame 11 close to the rotor 14 is provided with a moving groove 16 corresponding to the moving block 15, and the screw rod 13 is rotatably set inside the moving groove 16.

[0036] Specifically, the moving block 15 is driven to move up and down along the moving groove 16 by rotating the screw rod 13, and the moving block 15 is set as a protrusion, so as to prevent the connecting plate 12 and the moving block 15 from rotating with the screw rod 13 when moving up and down, and when the connecting plate 12 moves up and down, it drives the fixed splint 10 to move up and down, and the fixed splint 10 then drives the corresponding adjusting splint 8 to move up and down through the connecting structure, and the middle part of the connecting structure is set as a telescopic sleeve rod, so as to ensure that the adjusting splint 8 can still be connected to the fixed splint 10 through the connecting structure when it is away from the fixed splint 10.

[0037] In addition, through the cooperation between the moving block 15 and the screw rod 13, the technical effect of driving the moving block 15 to move and simultaneously driving the adjusting splint 8 and the fixed splint 10 to move is achieved, solving the technical problem that the adjusting splint 8 and the fixed splint 10 can only install a rotor 14 of a single height.

[0038] Furthermore, the diameter adjustment module includes a connecting sleeve 4, a connecting inner plate 5 and an electric push rod 17, the connecting inner plate 5 is slidably arranged inside the connecting sleeve 4, the bottom end of the electric push rod 17 is fixedly arranged on one side of the supporting base plate 2, the working end of the electric push rod 17 is connected to the connecting sleeve 4, the connecting sleeve 4 is fixedly connected to a group of adjusting splints 8, and the connecting inner plate 5 is fixedly connected to another group of adjusting splints 8; a limit block 23 is fixedly provided on the lower surface of the connecting inner plate 5, a telescopic groove 24 corresponding to the connecting inner plate 5 is opened inside the connecting sleeve 4, and a second limit groove 25 corresponding to the limit block 23 is opened on the upper surface of the connecting sleeve 4, and the telescopic groove 24 and the second limit groove 25 are connected;

[0039] Specifically, the electric push rod 17 is set as a push rod with its own battery, and the model can be FirgelliL12-WiFi. The electric push rod 17 drives the connecting sleeve 4 and the adjusting splint 8 below to move, and the connecting sleeve 4 drives the connecting inner plate 5 to move, and the connecting inner plate 5 drives the upper adjusting splint 8 to move. Through the cooperation of the connecting sleeve 4, the connecting inner plate 5 and the electric push rod 17, the technical effect of driving the two groups of adjusting splints 8 away from or close to the corresponding fixed splint 10 is achieved, and the technical problem that the adjusting splint 8 and the fixed splint 10 can only install a rotor 14 with a single diameter is solved.

[0040] Furthermore, the outer arc surface of the rotor 14 is provided with a balance adjustment assembly for adjusting the center of gravity of the rotor 14. The balance adjustment assembly includes a fixed ring 7, a rotating column 19, and a configuration block 20. The fixed ring 7 is fixedly sleeved on the outer arc surface of the rotor 14 and disposed inside the stator 6. The rotating column 19 and the configuration block 20 are provided in multiple groups. Multiple groups of the configuration block 20 are slidably disposed inside the fixed ring 7 and threadedly sleeved on the outer arc surface of the corresponding rotating column 19. The configuration block 20 is configured as a convex block, and the outer arc surface of the fixed ring 7 is provided with multiple groups of adjustment grooves 22 corresponding to the configuration blocks 20. Multiple groups of the rotating column 19 are rotatably disposed within the corresponding adjustment grooves 22. Keyways and flat keys are machined in the non-threaded sections of the rotating column 19 to circumferentially fix them to the bearing seat inside the fixed ring 7, thereby preventing the rotating column 19 from rotating. Rotating the rotating column 19 drives the configuration block 20 to move up and down inside the fixed ring 7, thereby adjusting the center of gravity of the rotor 14 according to the different positions of the configuration block 20.

[0041] For example, when the motor rotor 14 vibrates greatly in a certain direction, the position of the configuration block 20 corresponding to the direction can be adjusted to increase the mass of the position, thereby changing the center of gravity of the motor rotor 14 and achieving balance adjustment of the motor rotor 14. Through the cooperation of the rotating column 19 and the configuration block 20, the technical effect of adjusting the balance of the rotor 14 is achieved, and the technical problem of unstable operation caused by imbalance of the rotor 14 is solved.

[0042] Specifically, the fixing ring 7 is designed to be installed on the outer arc surface of the rotor 14 to avoid negative impact on the drive between the stator 6 and the rotor 14. The drive between the stator 6 and the rotor 14 mainly relies on the principle of electromagnetic induction. The stability and interaction of the air gap magnetic field between the two are the key to achieving drive.

[0043] The fixing ring 7 is precisely installed to ensure that it is concentric with the rotor 14 and does not change the electromagnetic characteristics of the outer contour of the rotor 14, so as to maintain a stable distribution of the air gap magnetic field and enable the electromagnetic drive between the rotor and the stator to proceed normally. The outer arc surface of the fixing ring 7 is provided with a plurality of groups of ventilation grooves, and the ventilation grooves are not connected to the adjustment grooves 22. When the motor is running, the electromagnetic interaction between the stator 6 and the rotor 14 will generate heat. Especially when the motor is running at high speed, the temperature rises significantly. The fixing ring 7 is wrapped around the outside of the rotor 14, which to a certain extent hinders the heat dissipation. The ventilation grooves can make the air circulate better inside the motor, take out the heat generated by the rotor, avoid affecting the motor performance due to high temperature, and extend the service life of the motor. At the same time, after the configuration block 20 moves, the air flows through the ventilation grooves, which affects the aerodynamic environment around the rotor 14.

[0044] In some cases, this can help further fine-tune the rotor's balance, improving the accuracy of balancing adjustments. Furthermore, when the motor rotor 14 rotates at high speeds, friction with the surrounding air creates air resistance, consuming energy and affecting motor efficiency. The ventilation slots can disrupt the boundary layer of air on the rotor 14's surface, reducing air resistance and improving the motor's energy efficiency. This is a significant advantage, particularly in energy-critical applications.

[0045] In addition, the top of the screw rod 13 passes through the limit frame 11, and the top of several groups of the rotating columns 19 passes through the fixed ring 7, and the tops of the limit frame 11 and the rotating columns 19 are provided with operating holes, which facilitate the staff to drive the screw rod 13 and the rotating column 19 to rotate through the operating holes. Several groups of the rotating columns 19 are symmetrically provided with two groups of limit rings 21 on the outer arc surface, and several groups of the rotating columns 19 are rotatably arranged inside the fixed ring 7 through the corresponding limit rings 21, and the fixed ring 7 is provided with a first limit groove 18 corresponding to the limit ring 21. The limit ring 21 rotates inside the first limit groove 18, thereby ensuring the stability of the rotating column 19 during rotation, and at the same time, the limit ring 21 is set to a material with a low anti-slip coefficient;

[0046] Through the cooperation of the first limiting groove 18, the rotating column 19 and the limiting ring 21, the technical effect of ensuring manual rotation while further preventing the rotating column 19 from rotating on its own is achieved, solving the technical problem of the rotating column 19 rotating on its own, and the remaining structures on the outside of the motor stator 6 and the rotor 14 all adopt non-magnetic structures.

[0047] See also Figure 1-Figure 7 A robot includes the rotor-balanced frameless motor described in the first embodiment. The rotor-balanced frameless motor of the present invention is installed at the joint 27 of the robot 26. When the robot 26 performs an action, the motor's rotor 14 rotates at high speed. Because the motor's rotor 14 is balanced by the balancing adjustment assembly, it rotates stably, reducing vibration and noise.

[0048] For example, when robot 26 extends and retracts its arm, the frameless motor at joint 27 precisely controls the speed and angle of motor rotor 14, making the arm's movements smoother and more accurate. Furthermore, the design of connector 1, support base 2, and size adjustment assembly allows the frameless motor to accommodate motor rotors 14 of varying sizes. This allows for tailored design and application scenarios during the development and production of robot 26.

[0049] The adjusting splint 8 is driven away from the rotor 14 by the electric push rod 17, and then the supporting structure 3, the stator 6 and the rotor 14 are removed, so that the motor rotor 14 of different specifications can be easily replaced, thereby improving the versatility and adaptability of the robot 26, meeting the use requirements of the robot 26 in different working environments and task requirements, and improving the overall performance and work efficiency of the robot.

[0050] The above-described embodiments merely represent several embodiments of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A rotor-balanced frameless motor, comprising a connector, a support base, a support structure, a stator, and a rotor, wherein the support structure cooperates with the upper surface of the support base, the stator is fixedly disposed inside the support structure, the rotor is located at the axis of the support structure, and a connecting column is provided at one end of the rotor, characterized in that: The outer arc surface of the rotor is provided with a balance adjustment component for adjusting the center of gravity of the rotor; the upper surface of the connector is provided with a size adjustment component for installing rotors of different sizes; The size adjustment assembly includes an adjusting plate, a fixed plate, a height adjustment module for adjusting the height of the adjusting plate and the fixed plate, and a diameter adjustment module for adjusting the distance between the adjusting plate and the fixed plate. The adjusting splint and the fixing splint are provided in two groups, the two groups of the adjusting splint and the fixing splint are located on both sides of the rotor, and the adjusting splint and the fixing splint are provided with mounting grooves on the side close to the rotor; The diameter adjustment module includes a connecting sleeve, a connecting inner plate and an electric push rod, wherein the connecting inner plate is slidably arranged inside the connecting sleeve, the bottom end of the electric push rod is fixedly arranged on one side of the supporting base plate, the working end of the electric push rod is connected to the connecting sleeve, the connecting sleeve is fixedly connected to a group of adjustment clamping plates, and the connecting inner plate is fixedly connected to another group of adjustment clamping plates; The height adjustment module includes a limit frame, a connecting plate, a screw, a moving block and a connecting structure. The limit frame is fixedly arranged on the upper surface of the connector. The connecting plate is slidably arranged on one side of the limit frame through the moving block. The fixed clamping plate is bolted to the side of the connecting plate away from the limit frame, and the moving block is threadedly sleeved on the outer arc surface of the screw. The fixed clamping plate is connected to the corresponding adjustment clamping plate through the connecting structure. The moving block is configured as a convex block, a moving groove corresponding to the moving block is provided on a side of the limiting frame close to the rotor, and the screw rod is rotatably disposed inside the moving groove; The balancing adjustment assembly includes a fixed ring, a rotating column and a configuration block, wherein the fixed ring is fixedly sleeved on the outer arc surface of the rotor, and the fixed ring is arranged inside the stator. The rotating column and the configuration block are provided in a plurality of groups, and the plurality of groups of the configuration blocks are slidably arranged inside the fixed ring, and the configuration blocks are threadedly sleeved on the outer arc surface of the corresponding rotating column; The configuration block is configured as a convex block, and the outer arc surface of the fixing ring is provided with a plurality of adjustment slots corresponding to the configuration block, and a plurality of rotation posts are rotatably disposed in the corresponding adjustment slots.

2. A rotor-balanced frameless motor according to claim 1, characterized in that: Two groups of limiting rings are symmetrically arranged on the outer arc surfaces of several groups of rotating columns. Several groups of rotating columns are rotatably arranged inside the fixed ring through the corresponding limiting rings, and a first limiting groove corresponding to the limiting ring is opened inside the fixed ring.

3. The rotor-balanced frameless motor according to claim 2, characterized in that: The top end of the screw rod passes through the limiting frame, and the top ends of the plurality of rotating columns pass through the fixing ring. The limiting frame and the top ends of the rotating columns are both provided with operation holes.

4. The rotor-balanced frameless motor according to claim 1, characterized in that: A limiting block is fixedly provided on the lower surface of the connecting inner plate, a telescopic groove corresponding to the connecting inner plate is opened inside the connecting sleeve plate, a second limiting groove corresponding to the limiting block is opened on the upper surface of the connecting sleeve plate, and the telescopic groove and the second limiting groove are connected.

5. A robot, characterized in that: A rotor-balanced frameless motor comprising any one of claims 1 to 4.

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