Split heat expansion prevention motor for robot

Abstract

The application belongs to the technical field of electric machines, and particularly relates to a split type heat expansion prevention motor for robots, which comprises a shell, an installation cavity arranged in the shell, a stator assembly arranged in the installation cavity, a rotor assembly arranged in the stator assembly, a magnet ring arranged on the magnet ring, a shaft sleeve arranged in the magnet ring, the shaft sleeve being sleeved on a rotating shaft, an expansion compensation structure arranged on the magnet ring, and the expansion compensation structure being used for compensating thermal expansion of the rotating shaft. When the motor generates heat during work to cause the inner shaft to expand, the expansion compensation structure on the magnet ring is no longer a rigid whole, but forms a flexible structure similar to elasticity. The magnet ring can adapt to the increase of the diameter of the rotating shaft through the expansion compensation structure, avoids hard extrusion, and makes the magnet ring and the magnet ring not deformed, damaged, burst or dispersed, and also not affected by wall friction between the deformed magnet ring and the outer stator, so that the service life of the motor is affected.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, and in particular relates to a split-type thermal expansion-resistant motor for robots. Background Technology

[0002] An electric motor, commonly known as a "motor," is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction. In a robot motor, the rotor is the rotating part that interacts with the stator to convert electrical energy into mechanical force, thereby driving the robot's movement. An external rotor robot motor refers to a type of motor where the rotor portion is exposed. This rotor is located outside the motor and rotates around the stator. Such motors are often called centerless motors. External rotor motors are generally used in high-speed, high-precision applications, such as robotics, industrial automation, and medical equipment.

[0003] For example, the utility model with announcement number CN221728013U provides a robot motor rotor, including: an outer rotor, with a rib connected to its outer side; the outer rotor includes a rotor body, with a top engagement groove inside the rotor body, a primary engagement ring connected to the surface of the top engagement groove, and a secondary engagement groove inside the primary engagement ring; a central action plate is provided on the surface of the secondary engagement groove, and an internal engagement groove is provided inside the central action plate; and a magnet contact area is provided on one side of the rib. By setting up the outer rotor, the top and secondary engagement grooves inside the rotor body provide space for subsequent installation. Combined with the central action plate and the internal engagement groove, the entire outer rotor can be installed according to the specific usage environment, facilitating use. This provides an outer rotor device for robot motors, offering flexible adjustment conditions and improving efficiency and user experience.

[0004] In a rotor structure, the gap between the rotor and the stator is called the air gap. The smaller the air gap, the greater the torque. In the field of robotics, motors strive to reduce the air gap to achieve high torque. However, the motor generates heat during operation, causing the inner shaft to expand, which in turn affects the outer magnetic ring, causing it to deform, be damaged, or burst. The magnetic ring is assembled in a split manner, and the magnetic ring is prone to cracking and disintegration. At the same time, because the air gap is too small, it will also rub against the outer stator, affecting the lifespan of the motor. Summary of the Invention

[0005] The purpose of this invention is to provide a split-type thermal expansion-resistant motor for robots, which aims to solve the problem in the above-mentioned background technology where the motor heats up during operation, causing the inner shaft to expand, thereby affecting the deformation, damage or cracking of the outer magnetic ring. The magnetic ring is assembled in a split manner, and the magnetic ring is prone to cracking and dispersing. At the same time, because the air gap is too small, it will also rub against the outer stator, affecting the life of the motor.

[0006] To achieve the above objectives, this invention provides a split-type thermal expansion-resistant motor for robots, comprising a housing; an installation cavity is provided inside the housing, a stator assembly is provided inside the installation cavity, a rotor assembly is sleeved inside the stator assembly, the rotor assembly includes a magnetic guide ring, a magnet ring is sleeved on the magnetic guide ring, a bushing is provided inside the magnetic guide ring, the bushing is sleeved on a rotating shaft, the magnet ring is a split-type assembled structure, and an expansion-counteracting structure is provided on the magnetic guide ring to counteract the thermal expansion of the rotating shaft.

[0007] Optionally, the expansion offset structure comprises multiple expansion groove groups, which are uniformly arranged around the magnetic ring in the circumferential direction.

[0008] Optionally, each expansion groove group includes a first groove and a second groove arranged perpendicular to the circumferential direction; the first groove and the second groove are arranged intersectingly, one end of the first groove and the second groove are connected to the end of the magnetic ring, and the other end is not connected to the other end of the magnetic ring; the first groove and the second groove are through grooves.

[0009] Optionally, each expansion groove group includes a first groove and a second groove arranged perpendicular to the circumferential direction; the first groove and the second groove are arranged in the same straight line, one end of the first groove and the second groove are respectively connected to the end of the magnetic ring, and the other end of the two are not connected to each other, and the first groove and the second groove are through grooves.

[0010] Optionally, each expansion groove group further includes a third groove arranged perpendicular to the circumferential direction; neither end of the third groove is connected to the end of the magnetic ring, and the third groove is a through groove.

[0011] Optionally, the bushing is made of a lightweight material with a low coefficient of thermal expansion.

[0012] Optionally, the bushing may be made of one of the following materials: plastic, carbon fiber, ceramic, aluminum alloy, or titanium alloy.

[0013] Optionally, the housing is provided with a front cover and a rear cover, both of which are provided with shaft holes, and the two ends of the rotating shaft pass through the two shaft holes respectively; the front cover and the rear cover are also provided with heat dissipation holes for heat dissipation of the motor.

[0014] Optionally, both the front cover and the rear cover have a hollow inner edge protruding from their inner center, and a placement position is formed between the inner wall of the inner edge and the rotating shaft, with a bearing provided on the placement position.

[0015] Optionally, one end of the rotating shaft is provided with a first slot, the other end of the shaft is provided with a gear, the inner wall of the gear is provided with a second slot, one end of a positioning member is inserted into the first slot, and the other end is inserted into the second slot.

[0016] Compared with the prior art, the above-mentioned technical solutions of the split-type thermal expansion-resistant motor for robots provided in the embodiments of the present invention have at least one of the following technical effects:

[0017] By incorporating an expansion-compensating structure to counteract the thermal expansion of the shaft, when the inner shaft expands due to heat generated during motor operation, the expansion-compensating structure on the magnetic ring is no longer a rigid whole, but rather forms a flexible structure similar to elasticity. The magnetic ring can adapt to the increase in shaft diameter through this expansion-compensating structure, avoiding hard compression. This prevents the magnetic ring and magnet ring from deforming, breaking, or separating, and also prevents them from rubbing against the outer stator due to deformation, thus preserving the motor's lifespan. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the exploded structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the assembled, split-type magnet ring structure of the present invention.

[0022] Figure 4 This is a schematic diagram of a magnetic ring structure according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of a magnetic ring structure according to another embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of a magnetic ring structure according to another embodiment of the present invention.

[0025] The following are the labeling elements in the figure:

[0026] 100. Outer shell; 110. Mounting cavity; 120. Shaft; 121. First slot; 130. Front cover; 131. Inner edge; 132. Placement position; 133. Heat dissipation hole; 140. Rear cover; 150. Shaft hole; 160. Bearing; 170. Gear; 171. Second slot; 180. Positioning component;

[0027] 200. Stator assembly; 210. Circuit board;

[0028] 300, Rotor assembly; 310, Magnetic guide ring; 311, Expansion groove group; 3111, First groove; 3112, Second groove; 3113, Third groove; 312, Expansion groove; 320, Magnet ring; 330, Bushing. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain embodiments of the present invention, and should not be construed as limiting the present invention.

[0030] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0033] In one embodiment of the present invention, according to Figure 1-6 As shown, the device includes a housing 100; the housing 100 has a mounting cavity 110, the mounting cavity 110 has a stator assembly 200, the stator assembly 200 has a rotor assembly 300, the rotor assembly 300 includes a magnetic ring 310, the magnetic ring 310 has a magnet ring 320, the magnetic ring 310 has a bushing 330, the bushing 330 is fitted onto a rotating shaft 120, and the magnetic ring 310 has an expansion compensation structure, which is used to compensate for the thermal expansion of the rotating shaft 120.

[0034] Specifically, by setting an expansion-compensating structure to counteract the thermal expansion of the shaft 120, when the motor heats up during operation causing the inner shaft to expand, the expansion-compensating structure on the magnetic ring 310 is no longer a rigid whole, but forms a flexible structure similar to elasticity. The magnetic ring 310 can adapt to the increase in the diameter of the shaft 120 through the expansion-compensating structure, avoiding hard compression, so that the magnetic ring 310 and the magnet ring will not deform, break, or disperse, and will not rub against the outer stator due to deformation, thus affecting the life of the motor.

[0035] Furthermore, in one embodiment, such as Figure 3 As shown, the magnet ring 320 is a one-piece molded design. The one-piece magnet ring 320 has a higher cost and is suitable for high-precision, low torque pulsation requirements, high-speed or high-reliability scenarios.

[0036] Furthermore, in another embodiment, such as Figure 2 As shown, the magnet ring 320 is a modular assembly. The modular assembly magnet ring 320 has a lower cost and is more convenient to maintain. The magnetic field can be optimized by changing the arrangement of the magnetic blocks according to the needs. The modular assembly is formed by gluing together multiple magnets to form the magnet ring 320.

[0037] In another embodiment of the invention, according to Figure 5 and 6 As shown, the expansion cancellation structure consists of multiple expansion groove groups 311, which are uniformly arranged around the magnetic ring 310 in a circumferential direction.

[0038] Specifically, the expansion groove assembly 311 transforms the magnetic ring 310 from a rigid integral structure into a flexible structure similar to a "spring." When the shaft 120 expands, the magnetic ring 310 can compensate for and adapt to the increase in the diameter of the shaft 120 through the slight closing of the expansion groove assembly 311, thus avoiding hard compression.

[0039] Furthermore, in another embodiment, according to Figure 4As shown, the expansion cancellation structure consists of multiple expansion grooves 312, which are evenly arranged around the magnetic ring 310 in the circumference. Each expansion groove 312 is perpendicular to the circumference. Neither end of the expansion groove 312 is connected to the end of the magnetic ring 310, and the expansion groove 312 is a through groove.

[0040] Furthermore, the expansion offset structure consists of multiple expansion groove groups 311, which are uniformly arranged circumferentially around the magnetic ring 310. The expansion groove groups 311 include, but are not limited to, the following two embodiments.

[0041] One of them is like Figure 5 As shown, each expansion groove group 311 includes a first groove 3111 and a second groove 3112 arranged perpendicular to the circumferential direction; the first groove 3111 and the second groove 3112 are arranged intersectingly, one end of the first groove 3111 and the second groove 3112 are connected to the end of the magnetic ring 310, and the other end is not connected to the other end of the magnetic ring 310; the first groove 3111 and the second groove 3112 are through grooves.

[0042] One of them is like Figure 6 As shown, each expansion groove group 311 includes a first groove 3111 and a second groove 3112 arranged perpendicular to the circumferential direction; the first groove 3111 and the second groove 3112 are arranged in the same straight line, one end of the first groove 3111 and the second groove 3112 are respectively connected to the end of the magnetic ring 310, and the other ends are not connected to each other. The first groove 3111 and the second groove 3112 are through grooves. Each expansion groove group 311 also includes a third groove 3113 arranged perpendicular to the circumferential direction; neither end of the third groove 3113 is connected to the end of the magnetic ring 310, and the third groove 3113 is a through groove. Specifically, in a preferred embodiment, by setting parallel first grooves 3111 and second grooves 3112, the force on the left and right sides is more even. A third groove 3113 is set in the middle, which can make the thermal expansion resistance stronger. The more grooves and the more evenly distributed they are, the greater the elastic force that can be offset by the diameter expansion of the rotating shaft 120. The magnetic ring 310 is less likely to be damaged or burst, and it is also less likely to be deformed. If the magnetic ring 310 is not deformed or damaged, the external magnetic ring 320 is less likely to be deformed or dispersed, and the rotor assembly 300 will not rub against the external stator assembly 200, thus affecting the motor life.

[0043] It is understood that the expansion groove group 311 in the above two embodiments can both achieve the function of counteracting the thermal expansion of the rotating shaft 120. Other features, including but not limited to three grooves and four grooves, are all within the protection scope of this expansion groove group 311.

[0044] Furthermore, the first groove 3111 and the second groove 3112 should be either symmetrical or cross-shaped. They cannot be designed to be on only one side, or in the middle and on one side. Otherwise, when the rotating shaft 120 expands thermally, the forces on the left and right sides will be uneven, causing cracks or deformation.

[0045] It is understandable that the flexible magnetic ring 310 can reduce the cumulative tolerance of the motor, and the flexible part can be installed tightly without the need to reserve installation space.

[0046] In another embodiment of the invention, according to Figure 1-3 As shown, bushing 330 is made of a lightweight material with a low coefficient of thermal expansion. The material of bushing 330 includes one of the following: plastic, carbon fiber, ceramic, aluminum alloy, and titanium alloy. Specifically, using lightweight materials reduces the inertia of the motor rotor, thereby achieving a high response speed for the motor.

[0047] In another embodiment of the invention, according to Figure 1-3 As shown, the outer casing 100 is provided with a front cover 130 and a rear cover 140. Both the front cover 130 and the rear cover 140 are provided with shaft holes 150, through which the two ends of the rotating shaft 120 pass respectively. The front cover 130 and the rear cover 140 are also provided with heat dissipation holes 133, which are used for heat dissipation of the motor. Specifically, there are multiple heat dissipation holes 133, which can improve the heat exchange efficiency with the outside environment.

[0048] In another embodiment of the invention, according to Figure 2 As shown, both the front cover 130 and the rear cover 140 have a hollow inner edge 131 protruding from the center of their inner sides. The inner wall of the inner edge 131 forms a placement position 132 between itself and the rotating shaft 120, and a bearing 160 is provided on the placement position 132. Specifically, the inner edge 131 is designed to specifically reserve a placement position 132 for the bearing 160, so that the bearing 160 can be placed in the placement position 132.

[0049] In another embodiment of the invention, according to Figure 1 and 2 As shown, one end of the rotating shaft 120 is provided with a first slot 121, and the other end with the first slot 121 is provided with a gear 170. A second slot 171 is provided on the inner wall of the gear 170. A positioning member 180 is inserted into the first slot 121 at one end and into the second slot 171 at the other end. Specifically, by providing the positioning member 180, the rotational force of the rotating shaft 120 can be directly transmitted to the gear 170, preventing relative rotation between the two (avoiding slippage). At the same time, the positioning member 180 serves a centering function during installation, ensuring that the gear 170 and the rotating shaft 120 are angularly aligned.

[0050] In another embodiment of the invention, according to Figure 2As shown, the stator assembly 200 is also provided with a circuit board 210, which is used to realize closed-loop control of position, speed and torque.

[0051] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention and should not be construed as limiting the specific implementation of the invention to these descriptions. For those skilled in the art, the architectural form of this invention can be flexibly varied without departing from its conceptual framework, leading to the derivation of a series of products. Any simple deductions or substitutions should be considered as falling within the patent protection scope defined by the submitted claims.

Claims

1. A split-type thermal expansion-resistant motor for robots, characterized in that, The device includes an outer casing; the outer casing has a mounting cavity, the mounting cavity contains a stator assembly, the stator assembly houses a rotor assembly, the rotor assembly includes a magnetic ring, the magnetic ring is fitted with a magnet ring, the magnetic ring contains a bushing, the bushing is fitted onto a rotating shaft, the magnet ring is a split-type assembly, the magnetic ring has an expansion-counteracting structure, the expansion-counteracting structure is used to counteract the thermal expansion of the rotating shaft; the expansion-counteracting structure consists of multiple expansion groove groups, the multiple expansion groove groups are evenly arranged around the circumference of the magnetic ring; each expansion groove group includes a first groove and a second groove arranged perpendicular to the circumference, the first groove and the second groove are intersecting, one end of the first groove and the second groove are connected to one end of the magnetic ring, and the other end is not connected to the other end of the magnetic ring; the first groove and the second groove are through grooves; Alternatively, each expansion groove group may include a first groove and a second groove arranged perpendicular to the circumferential direction. The first groove and the second groove are arranged on the same straight line. One end of the first groove and the second groove are respectively connected to the end of the magnetic ring, and the other end of the two are not connected to each other. The first groove and the second groove are through grooves.

2. The split-type thermal expansion-resistant motor for robots according to claim 1, characterized in that, Each expansion groove group further includes a third groove arranged perpendicular to the circumferential direction; neither end of the third groove is connected to the end of the magnetic ring, and the third groove is a through groove.

3. The split-type thermal expansion-resistant motor for robots according to claim 1, characterized in that, The bushing is made of a lightweight material with a low coefficient of thermal expansion.

4. The split-type thermal expansion-resistant motor for robots according to claim 3, characterized in that, The bushing is made of one of the following materials: plastic, carbon fiber, ceramic, aluminum alloy, and titanium alloy.

5. The split-type thermal expansion-resistant motor for robots according to claim 1, characterized in that, The outer casing is provided with a front cover and a rear cover, both of which are provided with shaft holes, and the two ends of the rotating shaft pass through the two shaft holes respectively; the front cover and the rear cover are also provided with heat dissipation holes, which are used for heat dissipation of the motor.

6. The split-type thermal expansion-resistant motor for robots according to claim 5, characterized in that, Both the front cover and the rear cover have a hollow inner edge protruding from the center of their inner sides. The inner wall of the inner edge forms a placement position with the rotating shaft, and a bearing is provided in the placement position.

7. The split-type thermal expansion-resistant motor for robots according to claim 1, characterized in that, One end of the rotating shaft is provided with a first slot, and the other end of the shaft is provided with a gear. The inner wall of the gear is provided with a second slot. One end of a positioning member is inserted into the first slot, and the other end is inserted into the second slot.

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