Integrated heat-proof expansion motor for robot

Abstract

The application belongs to the technical field of electric machines, and particularly relates to an integrated heat-proof expansion 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 offset structure arranged on the magnet ring, and the expansion offset structure being used for offsetting thermal expansion of the rotating shaft. When the motor generates heat during work to cause the inner shaft to expand, the expansion offset 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 offset structure, avoids hard extrusion, and makes the magnet ring and the magnet ring not deformed, damaged or burst, and also not rub against the outer stator due to deformation, so as to affect the service life of the motor.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of electric machines, and particularly relates to an integrated heat-expansion-preventing electric machine for robots. BACKGROUND

[0002] An electric machine, commonly known as a motor, is an electromagnetic device that realizes conversion or transmission of electric energy according to the law of electromagnetic induction. The rotor of a robot electric machine is the rotating part thereof, which is responsible for interacting with the stator of the robot electric machine to convert electric power into mechanical force, thereby driving the movement of the robot. The outer rotor of a robot electric machine refers to a kind of electric machine in which the rotor part is exposed, and the rotor part is located outside the electric machine and rotates around the stator. Such an electric machine is also commonly referred to as a coreless electric machine. The outer rotor electric machine is generally applied in high-speed and high-precision application fields, such as robots, industrial automation, medical equipment, etc.

[0003] The utility model provides a robot electric machine rotor, including: electric machine outer rotor, the outside of electric machine outer rotor is connected with the boss, electric machine outer rotor includes rotor body, the inside of rotor body is equipped with top end clamping groove, and the surface of top end clamping groove is connected with primary clamping ring, and the inside of primary clamping ring is equipped with secondary clamping groove, the surface of secondary clamping groove is provided with middle part action plate, and the inside of middle part action plate is equipped with inside clamping groove, and one side of boss is provided with magnetic steel adhesion area. Through setting up electric machine outer rotor, the top end clamping groove and secondary clamping groove in the inside of rotor body provide space condition for subsequent installation, and in combination with middle part action plate and inside clamping groove, the whole electric machine outer rotor can be installed according to specific use environment, facilitates use, provides a kind of outer rotor device for robot electric machine, provides the condition of flexible adjustment, improves use efficiency and use experience.

[0004] In the rotor structure, the gap between the rotor and the stator is called the air gap, and the smaller the air gap, the greater the torque. In the field of robots, the air gap is reduced as much as possible to achieve high torque. However, the motor will heat up during operation, causing the inner shaft to expand, which will affect the deformation and damage or explosion of the outer magnetic ring and the magnet ring. At the same time, due to the small air gap, the outer stator will also be affected by wall friction, affecting the service life of the motor. SUMMARY

[0005] The purpose of the present application is to provide an integrated heat-expansion-preventing electric machine for robots, which aims to solve the problem of "the motor will heat up during operation, causing the inner shaft to expand, which will affect the deformation and damage or explosion of the outer magnetic ring and the magnet ring, and at the same time, due to the small air gap, the outer stator will also be affected by wall friction, affecting the service life of the motor" in the background art.

[0006] To achieve the above object, the integrated heat-proof expansion motor for robot provided by the embodiment of the present application comprises a shell; the shell is internally provided with a mounting cavity, the mounting cavity is internally provided with a stator assembly, the stator assembly is internally sleeved with a rotor assembly, the rotor assembly comprises a magnetic conductive ring, the magnetic conductive ring is externally sleeved with a magnet ring, the magnetic conductive ring is internally provided with a shaft sleeve, the shaft sleeve is sleeved on a rotating shaft, the magnet ring is integrally formed, the magnetic conductive ring is externally provided with an expansion offset structure, and the expansion offset structure is used for offsetting the thermal expansion of the rotating shaft.

[0007] Optionally, the expansion offset structure is a plurality of expansion groove groups, and the plurality of expansion groove groups are uniformly arranged in the circumferential direction of the magnetic conductive ring.

[0008] Optionally, each expansion groove group comprises a first groove and a second groove which are arranged perpendicularly to the circumferential direction; the first groove and the second groove are arranged in a cross manner, one end of the first groove and the second groove is communicated to one end of the magnetic conductive ring, and the other end is not communicated to the other end of the magnetic conductive ring; and the first groove and the second groove are through grooves.

[0009] Optionally, each expansion groove group comprises a first groove and a second groove which are arranged perpendicularly 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 is respectively communicated to one end of the magnetic conductive ring, and the other end is not communicated to each other, and the first groove and the second groove are through grooves.

[0010] Optionally, each expansion groove group further comprises a third groove which is arranged perpendicularly to the circumferential direction; both ends of the third groove are not communicated to the ends of the magnetic conductive ring, and the third groove is a through groove.

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

[0012] Optionally, the material of the shaft sleeve comprises one of plastic, carbon fiber, ceramic, aluminum alloy and titanium alloy.

[0013] Optionally, the shell is provided with a front cover and a rear cover, the front cover and the rear cover are both provided with shaft holes, and both ends of the rotating shaft are respectively arranged to pass through the two shaft holes; the front cover and the rear cover are further provided with heat dissipation holes, and the heat dissipation holes are used for heat dissipation of the motor.

[0014] Optionally, the inner side of the front cover and the inner side of the rear cover are both protruded by a hollow inner edge in the middle part, an inner wall of the inner edge and the rotating shaft form a placing position, and the placing position is provided with a bearing.

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

[0016] Compared with the prior art, the robot integrated heat expansion prevention motor provided by the embodiment of the application has one or more of the following technical effects:

[0017] By arranging the expansion compensation structure, the heat expansion of the rotating shaft is offset. When the motor heats up during operation and the inner shaft expands, the expansion compensation structure on the magnetic conductive ring is no longer rigid as a whole, but forms a flexible structure similar to elasticity. The magnetic conductive ring can adapt to the increase in the diameter of the rotating shaft through the expansion compensation structure, avoid hard extrusion, so that the magnetic conductive ring and the magnet ring will not be deformed and damaged or burst, and will not be deformed to rub against the outer stator, affecting the service life of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 It is a structural schematic diagram of the application.

[0020] Figure 2 It is an explosive structural schematic diagram of the application.

[0021] Figure 3 It is a structural schematic diagram of the assembled segmented magnet ring of the application.

[0022] Figure 4 It is a structural schematic diagram of the magnetic conductive ring of one embodiment of the application.

[0023] Figure 5 It is a structural schematic diagram of the magnetic conductive ring of another embodiment of the application.

[0024] Figure 6 It is a structural schematic diagram of the magnetic conductive ring of another embodiment of the application.

[0025] In the drawings, various reference signs represent:

[0026] 100, housing; 110, mounting cavity; 120, rotating shaft; 121, first slot; 130, front cover; 131, inner edge; 132, placing position; 133, heat dissipation hole; 140, rear cover; 150, shaft hole; 160, bearing; 170, gear; 171, second slot; 180, positioning member;

[0027] 200, stator assembly; 210, circuit board;

[0028] 300, rotor assembly; 310, magnetic conducting ring; 311, expansion slot group; 3111, first recess; 3112, second recess; 3113, third recess; 312, expansion slot; 320, magnet ring; 330, shaft sleeve. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below are exemplary and are intended to explain the embodiments of the present application, and should not be understood as limiting the present application.

[0030] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0032] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0033] In one embodiment of the present application, according to Figures 1-6 As shown in FIG. 1, it comprises a shell 100; a mounting cavity 110 is arranged in the shell 100; a stator assembly 200 is arranged in the mounting cavity 110; a rotor assembly 300 is arranged in the stator assembly 200; the rotor assembly 300 comprises a magnetic conductive ring 310; a magnet ring 320 is arranged outside the magnetic conductive ring 310; a shaft sleeve 330 is arranged in the magnetic conductive ring 310; the shaft sleeve 330 is arranged on a rotating shaft 120; an expansion compensation structure is arranged on the magnetic conductive ring 310; the expansion compensation structure is used to compensate the thermal expansion of the rotating shaft 120.

[0034] Specifically, by arranging the expansion compensation structure, the thermal expansion of the rotating shaft 120 is compensated; when the motor generates heat during operation, causing the inner shaft to expand, the expansion compensation structure on the magnetic conductive ring 310 is no longer a rigid whole, but forms a flexible structure similar to a spring. The magnetic conductive ring 310 can adapt to the increase in diameter of the rotating shaft 120 through the expansion compensation structure, avoiding hard extrusion, so that the magnetic conductive ring 310 and the magnet ring will not be deformed or burst, nor will they be deformed to rub against the outer stator, affecting the service life of the motor.

[0035] Further, in one embodiment, as shown in FIG. 2, the magnet ring 320 is arranged in one piece; the one-piece magnet ring 320 has a high cost, is suitable for high-precision, low-torque ripple requirements, high-speed or high-reliability scenarios. Figure 3 Further, in another embodiment, as shown in FIG. 3, the magnet ring 320 is arranged in a split type; the split type magnet ring 320 has a low cost and high maintenance convenience; the magnetic field can be optimized by changing the arrangement of the magnetic blocks according to the requirements; the split type is that multiple magnets are assembled into a magnet ring 320 by gluing.

[0036] Figure 2 Further, in another embodiment, as shown in FIG. 4, the magnet ring 320 is arranged in a split type; the split type magnet ring 320 has a low cost and high maintenance convenience; the magnetic field can be optimized by changing the arrangement of the magnetic blocks according to the requirements; the split type is that multiple magnets are assembled into a magnet ring 320 by gluing.

[0037] In another embodiment of the present application, according to Figure 5 and 6 As shown in FIG. 5, the expansion compensation structure comprises a plurality of expansion groove groups 311; the plurality of expansion groove groups 311 are arranged uniformly around the circumference of the magnetic conductive ring 310.

[0038] Specifically, the expansion groove groups 311 make the magnetic conductive ring 310 no longer a rigid whole, but form a flexible structure similar to a spring. When the rotating shaft 120 expands, the magnetic conductive ring 310 can adapt to the increase in diameter of the rotating shaft 120 through the slight closing of the expansion groove groups 311, avoiding hard extrusion.

[0039] Further, in another embodiment, according to Figure 4 ​As 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. This makes it less likely for the external magnetic ring 320 to be deformed, and it is less likely for the rotor assembly 300 to rub against the external stator assembly 200, thus improving 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] Further, the first groove 3111 and the second groove 3112 are symmetrically arranged or cross-arranged, and cannot be designed on one side or on the middle and one side, otherwise, when the rotating shaft 120 is heat-expanded, the force on the left and right sides is uneven, causing cracking or deformation.

[0045] It can be understood that the elastic magnetic conducting ring 310 can reduce the cumulative error of the motor, and the elastic part can be tightly fitted and installed without reserving an installation matching space.

[0046] In another embodiment of the present application, according to Figures 1-3 As shown in the figure, the shaft sleeve 330 is made of a lightweight material with a low expansion coefficient. The material of the shaft sleeve 330 includes one of plastic, carbon fiber, ceramic, aluminum alloy, and titanium alloy. Specifically, using a lightweight material can reduce the inertia of the motor rotor, thereby achieving high corresponding speed of the motor.

[0047] In another embodiment of the present application, according to Figures 1-3 As shown in the figure, the shell 100 is provided with a front cover 130 and a rear cover 140, and the front cover 130 and the rear cover 140 are both provided with shaft holes 150, and the two ends of the rotating shaft 120 pass through the two shaft holes 150, respectively. The front cover 130 and the rear cover 140 are also provided with heat dissipation holes 133 for heat dissipation of the motor. Specifically, the heat dissipation holes 133 are multiple, which can improve the heat exchange efficiency with the outside.

[0048] In another embodiment of the present application, according to Figure 2 As shown in the figure, the inner side of the middle part of the front cover 130 and the rear cover 140 is protruded with a hollow inner edge 131, and the inner wall of the inner edge 131 and the rotating shaft 120 form a placing position 132, and the placing position 132 is provided with a bearing 160. Specifically, the inner edge 131 is arranged to specially reserve a placing position 132 for the bearing 160, so that the bearing 160 can be placed in the placing position 132.

[0049] In another embodiment of the present application, according to Figure 1 and 2 As shown in the figure, one end of the rotating shaft 120 is provided with a first slot 121, one end provided with the first slot 121 is provided with a gear 170, the inner wall of the gear 170 is provided with a second slot 171, one end of a positioning member 180 is inserted into the first slot 121, and the other end is inserted into the second slot 171. Specifically, by arranging the positioning member 180, the rotating force of the rotating shaft 120 can be directly transmitted to the gear 170, preventing relative rotation (slippage) of the two. At the same time, the positioning member 180 plays a centering role during installation, ensuring that the angle of the gear 170 and the rotating shaft 120 is aligned.

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

[0051] The above is a further detailed description of the present application in combination with specific preferred embodiments, and cannot be deemed as limitation of the specific implementation of the present application to these descriptions. For ordinary skilled in the art to which the present application belongs, the architecture form can be flexible and variable without departing from the concept of the present application, and a series of products can be derived. Any simple deduction or replacement should be deemed as belonging to the patent protection scope determined by the submitted claims.

Claims

1. An integrated thermal expansion-proof motor for a robot, characterized by, The utility model provides a motor, including shell, install the cavity in the shell, the stator assembly in the install the cavity, the rotor assembly of sleeve in the stator assembly, the rotor assembly includes the magnetic ring, the magnetic ring sleeve sets up the magnet ring, the magnetic ring is equipped with the axle sleeve, the axle sleeve is set up on a rotating shaft, the magnetic ring is integrally formed and sets up, the magnetic ring is equipped with the expansion offset structure, the expansion offset structure is used to offset the thermal expansion of the rotating shaft, the expansion offset structure is a plurality of expansion groove groups, and a plurality of expansion groove groups are evenly arranged around the magnetic ring, and each expansion groove group includes the first recess and the second recess perpendicular to the circumferential direction, the first recess and the second recess are cross arrangement, one end of the first recess and the second recess is communicated to the end of the magnetic ring, and the other end is not communicated to the other end of the magnetic ring, and the first recess and the second recess are through grooves. Or each expansion groove group includes the first recess and the second recess perpendicular to the circumferential direction, and the first recess and the second recess are arranged on the same straight line, one end of the first recess and the second recess is communicated to the end of the magnetic ring respectively, and the other end is not communicated to each other, and the first recess and the second recess are through grooves.

2. The integrated thermal expansion-compensated motor for robots according to claim 1, characterized in that, Each expansion groove group also includes the third recess perpendicular to the circumferential direction, and both ends of the third recess are not communicated to the end of the magnetic ring, and the third recess is a through groove.

3. The integrated thermal expansion-compensated motor for robots according to claim 1, characterized in that, The axle sleeve is made of lightweight material with low expansion coefficient.

4. The integrated thermal expansion-compensated motor for robots according to claim 3, characterized in that, The axle sleeve is made of lightweight material with low expansion coefficient.

5. The integrated thermal expansion-compensated motor for robots according to claim 1, characterized in that, The shell is provided with a front cover and a rear cover, and the front cover and the rear cover are provided with shaft holes, and the two ends of the rotating shaft pass through the two shaft holes respectively.

6. The integrated thermal expansion-compensated motor for robots according to claim 5, characterized in that, The inner side of the front cover and the rear cover is convex with a hollow inner edge, and the inner wall of the inner edge and the rotating shaft form a placing position, and the placing position is provided with a bearing.

7. The integrated thermal expansion-compensated motor for robots according to claim 1, characterized in that, One end of the rotating shaft is provided with a first slot, and the end provided with the first slot is provided with a gear, and the inner wall of the gear is provided with a second slot, and 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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