Permanent magnet motor for robot

Abstract

The invention relates to a permanent magnet motor for a robot, and relates to the technical field of robots, the permanent magnet motor comprises a permanent magnet motor body, and a fault protection mechanism is arranged outside the permanent magnet motor body; according to the invention, through the arranged fault protection mechanism, when the detection sheet senses that the air gap deviation exceeds a normal range, the switch can be immediately triggered through the linkage mechanism, the audible and visual alarm is started, and the driving motor is forcibly closed, so that equipment wear or damage caused by air gap abnormity is effectively prevented, the safety and the stability are improved, and meanwhile, the reliability is improved. An alarm linkage rod in the fault protection mechanism is adjustable in length and adapts to permanent magnet motor body structures of different specifications, universality is enhanced, the multi-scene industrial application requirement is met, in addition, a reset spring rod provides proper attaching force, an air gap detection piece can be tightly attached to the surfaces of a stator and a rotor, detection sensitivity and stability are improved, and the fault protection mechanism is suitable for the permanent magnet motor. Meanwhile, damage to precise parts is avoided, and the accuracy of a detection result is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a permanent magnet motor for a robot. Background Art

[0002] With the rapid development of fields such as intelligent manufacturing, industrial automation, and service robots, robots have put forward higher requirements for the response speed, control accuracy, and structural compactness of the drive system. Permanent magnet motors have been widely used in various robot drive devices due to their advantages such as high power density, high efficiency, and structural compactness, especially in torque servo systems and high-precision motion control applications. Compared with traditional induction motors, permanent magnet motors eliminate the excitation device, reduce energy loss, improve the system response speed and control stability, and have become one of the preferred drive solutions for robot execution joints or end effectors.

[0003] The prior art discloses a patent for invention with the publication number CN107070066A, which discloses a permanent magnet motor for a robot. Its basic description is as follows: including a motor body and a handle, the handle is located on the front of the motor body, a collar is sleeved on the surface of the motor body on both sides of the handle, connection blocks are fixedly connected to the top and bottom of the collar, a connecting rod is fixedly connected to the front of the connection block, fixing sleeves are fixedly connected to the top and bottom of the handle, support rods are movably connected to both sides inside the fixing sleeves, and both ends of the support rods penetrate through the fixing sleeves and extend to both sides of the fixing sleeves. By setting the connection block, connecting rod, handle, fixing sleeve, support rod, receiving block, fixing block, and threaded groove, the present invention achieves the effect of facilitating the separation of the handle from the motor, and can quickly remove the collar from the surface of the motor while stably supporting the motor, thereby facilitating the user to disassemble the handle, and indirectly improving the efficiency of assembling the robot.

[0004] In the actual implementation process, there are still some problems:

[0005] 1. In the application of traditional permanent magnet motors, the air gap size between the rotor and the stator directly affects the motor performance. If the air gap shifts due to wear, structural deformation, or installation error, it will lead to uneven magnetic fields, torque fluctuations, and even cause the motor to overheat, jam, or be damaged. However, in the prior art, most permanent magnet motors lack a real-time monitoring and active response mechanism for the air gap state, usually relying on manual inspections or periodic maintenance, which is not only inefficient but also prone to missing early signs of faults, resulting in serious consequences. In addition, some existing air gap monitoring devices have problems such as complex structures, large volumes, and poor adaptability, making it difficult to be flexibly deployed in robot structures with limited dimensions or multiple specifications.

[0006] 2. Under high-load and high-frequency operating conditions, especially in scenarios of long-term continuous operation such as industrial robots, a large amount of heat is generated in the internal iron core and winding of the permanent magnet motor. If the heat dissipation is not timely, it will lead to too high a temperature rise, affecting the magnetic properties of the permanent magnet and even shortening the service life of the motor. At present, many permanent magnet motors adopt passive heat dissipation or single air-cooling methods, with low heat dissipation efficiency. Moreover, the heat dissipation structure is exposed to the industrial site for a long time, prone to dust and oil accumulation, further weakening the heat exchange capacity. At the same time, some equipment lacks a cleaning and maintenance design, making it inconvenient for users to clean the heat dissipation components, resulting in a gradual decline in the heat dissipation performance of the system. Summary of the Invention

[0007] (1) Technical problems to be solved

[0008] To solve the above problems of the prior art, the present invention provides a permanent magnet motor for a robot, which solves the problems of error accumulation and fault expansion caused by the lack of high-sensitivity air gap monitoring during the operation of traditional motors and the short heat conduction path of the heat dissipation structure of traditional permanent magnet motors.

[0009] (2) Technical solutions

[0010] To achieve the above object, the main technical solutions adopted by the present invention are as follows:

[0011] A permanent magnet motor for a robot includes a permanent magnet motor body. A fault protection mechanism is provided outside the permanent magnet motor body. The fault protection mechanism includes a group of two air gap detection pieces. A driving plate is connected to the top end of each air gap detection piece. An alarm trigger plate is fixedly connected to the inner side of each driving plate. A two-way trigger switch is provided between every two alarm trigger plates.

[0012] The fault protection mechanism further includes two driven gear rings. A transmission gear is meshed with the outer wall of each driven gear ring. A driving connecting rod is fixedly connected between the two transmission gears. A limiting member is rotatably connected to the middle of the driving connecting rod. The limiting member is fixedly connected to the outer wall of the permanent magnet motor body.

[0013] A driving motor is provided at the bottom of one of the transmission gears. The output end of the driving motor is fixedly connected to the bottom central axis of one of the transmission gears.

[0014] The outside of the driving motor is connected to a control main control. The outer sides of two adjacent air gap detection pieces are attached to the inner wall of the permanent magnet motor body.

[0015] Two connecting plates are fixedly connected to the inner wall of each driven gear ring. An electric telescopic rod is fixedly connected to the bottom end of each connecting plate.

[0016] The free end of each electric telescopic rod is fixedly connected with a detection component installation box, and two sound and light alarms are fixedly connected to one side of the outer wall of each detection component installation box.

[0017] On the other side of the outer wall of each detection component installation box, a guiding groove is formed, and both sides of each air gap detection piece are slidably connected to the inner wall of each guiding groove.

[0018] Each double - way trigger switch is installed on the inner wall of four detection component installation boxes. On both sides of the inner wall of each detection component installation box, a reset spring rod is fixedly connected, and one end of each reset spring rod is fixedly connected to one side of each driving plate.

[0019] Each alarm linkage rod is in contact with the trigger end of each double - way trigger switch. Two adjacent sound and light alarms are respectively electrically connected to each double - way trigger switch. Each electric telescopic rod is electrically connected to the control main control. Each sound and light alarm is electrically connected to the driving motor. The bottom end of the driving motor is fixedly connected with a stabilizing rod, and one end of the stabilizing rod is fixedly connected to the outer wall of the permanent magnet motor body.

[0020] A dust - proof mechanism is arranged outside the permanent magnet motor body. The dust - proof mechanism includes a heat - conducting cylinder, heat - dissipating fins, a cleaning ring plate and heat - conducting sheets. The inner wall of the permanent magnet motor body is fixedly connected with heat - conducting sheets. The outer wall of the heat - conducting sheet penetrates through the permanent magnet motor body. The outer wall of the heat - conducting sheet is fixedly connected with a heat - conducting cylinder. The outer wall of the heat - conducting cylinder is fixedly connected with heat - dissipating fins. The outer wall of the heat - conducting cylinder is slidably connected with a cleaning ring plate, and the inner side of the cleaning ring plate is in contact with the inner wall of the heat - dissipating fins. (III) Advantageous effects

[0021] The advantageous effects of the present invention are as follows:

[0022] 1. In the present invention, through the set fault protection mechanism, when the detection piece senses that the air gap deviation exceeds the normal range, the switch can be immediately triggered through the linkage mechanism, the sound and light alarm is started, and the driving motor is forcibly turned off, effectively preventing equipment wear or damage caused by abnormal air gaps, improving safety and stability. At the same time, the length of the alarm linkage rod in the fault protection mechanism is adjustable, adapting to the permanent magnet motor body structures of different specifications, enhancing versatility, meeting the industrial application requirements of multiple scenarios. In addition, the reset spring rod provides an appropriate adhesion force, enabling the air gap detection piece to closely adhere to the surfaces of the stator and rotor, improving the sensitivity and stability of detection, while avoiding damage to precision components and ensuring the accuracy of detection results. The entire mechanism has the advantages of compact structure, reliable action, and rapid response, can realize the efficient monitoring and immediate protection of the operating state of the permanent magnet motor body, extend the service life of the equipment, reduce the failure rate and maintenance cost, and has significant practical value and promotion significance.

[0023] 2. In the present invention, through the provided dust-proof mechanism, during the operation of the permanent magnet motor body, a large amount of heat will be generated in its internal windings and iron cores under long-term power-on and high-speed rotation. To ensure that the permanent magnet motor body operates within a safe temperature range and extend its service life, an integrated dust-proof and heat-dissipation mechanism is provided. Specifically, the inner wall of the permanent magnet motor body conducts the internal heat effectively to the outside of the permanent magnet motor body through fixed heat-conducting sheets. The heat-conducting sheets penetrate the shell of the permanent magnet motor body and are connected to the heat-conducting cylinder, further diffusing and transmitting the heat. Heat-dissipating fins are provided on the outside of the heat-conducting cylinder, and the heat is quickly released by increasing the surface area and relying on air convection, improving the heat-dissipation efficiency. In addition, the cleaning ring plate slidably connected to the outside of the heat-conducting cylinder can slide along the heat-conducting cylinder during use or maintenance to mechanically clean the inner wall of the heat-dissipating fins, preventing dust or oil stains from depositing and affecting the heat-dissipation performance, thereby realizing the heat-dissipation and dust-proof functions simultaneously and improving the stability and reliability of the permanent magnet motor body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a schematic structural diagram inside the permanent magnet motor body of the present invention;

[0026] Figure 3 is a schematic structural diagram of the drive motor part of the present invention;

[0027] Figure 4 is of the present invention Figure 3 enlarged view at A in;

[0028] Figure 5 is a schematic structural diagram of the detection component installation box part of the present invention;

[0029] Figure 6 is of the present invention Figure 5 enlarged view at B in.

[0030] In the figure: 1, permanent magnet motor body; 2, fault protection mechanism; 201, transmission gear; 202, drive connecting rod; 203, control main control; 204, drive motor; 205, driven gear ring; 206, electric telescopic rod; 207, sound and light alarm; 208, detection component installation box; 209, air gap detection piece; 210, guide groove; 211, drive plate; 212, alarm trigger plate; 213, alarm linkage rod; 214, two-way trigger switch; 215, reset spring rod; 3, stabilizing rod; 4, dust-proof mechanism; 401, heat-conducting cylinder; 402, heat-dissipating fins; 403, cleaning ring plate; 404, heat-conducting sheet; 5, connecting plate; 6, limiting piece. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] For a better explanation of the present invention for easy understanding, the present invention will be described in detail below in conjunction with the accompanying drawings through specific embodiments.

[0032] Please refer to Figures 1 to 6 As shown, a permanent magnet motor for a robot according to the present invention includes a permanent magnet motor body 1. A fault protection mechanism 2 is provided outside the permanent magnet motor body 1. The fault protection mechanism 2 includes a set of two air gap detection pieces 209. The top end of each air gap detection piece 209 is connected to a driving plate 211. The inner side of each driving plate 211 is fixedly connected to an alarm trigger plate 212. A bidirectional trigger switch 214 is provided between every two alarm trigger plates 212.

[0033] Optionally, the fault protection mechanism 2 further includes two driven gear rings 205. The outer wall of each driven gear ring 205 is engaged with a transmission gear 201. A driving connecting rod 202 is fixedly connected between the two transmission gears 201. The middle of the driving connecting rod 202 is rotatably connected to a limiting member 6, and the limiting member 6 is fixedly connected to the outer wall of the permanent magnet motor body 1. In the actual implementation process, by setting the meshing structure between the driven gear ring 205 and the transmission gear 201, the driving connecting rod 202 drives the whole set of detection mechanisms to rotate around the permanent magnet motor body 1 under the action of a driving source, so as to realize the all-round scanning detection of multiple air gap positions, effectively avoiding the local error problem caused by single-point detection.

[0034] Optionally, a driving motor 204 is provided at the bottom of one of the transmission gears 201. The output end of the driving motor 204 is fixedly connected to the bottom central axis of one of the transmission gears 201. In the actual implementation process, the driving motor 204 directly provides a rotational driving force, which is transmitted to the transmission gear 201 through the central axis, and then drives the driven gear ring 205 and the detection component installation box 208 to rotate through the meshing relationship, so as to drive the air gap detection mechanism to realize the tracking detection of the outer circle of the whole permanent magnet motor body 1.

[0035] Optionally, a control main unit 203 is connected to the outside of the driving motor 204. The outer sides of two adjacent air gap detection pieces 209 are attached to the inner wall of the permanent magnet motor body 1. In the actual implementation process, the fitting arrangement of the detection pieces ensures that they always closely adhere to the air gap area between the motor stator and the rotor, improving the consistency of the measurement reference and enhancing the reliability of the detection data.

[0036] Optionally, two connecting plates 5 are fixedly connected to the inner wall of each driven gear ring 205. The bottom end of each connecting plate 5 is fixedly connected to an electric telescopic rod 206.

[0037] Optionally, the free end of each electric telescopic rod 206 is fixedly connected to a detection component installation box 208. Two sound and light alarms 207 are fixedly connected to one side of the outer wall of each detection component installation box 208.

[0038] Optionally, a guiding groove 210 is formed on the other side of the outer wall of each detection component mounting box 208, and both sides of each air gap detection piece 209 are respectively slidably connected to the inner wall of each guiding groove 210.

[0039] Optionally, each bistable trigger switch 214 is respectively mounted on the inner wall of four detection component mounting boxes 208. Both sides of the inner wall of each detection component mounting box 208 are fixedly connected with a reset spring rod 215, and one end of each reset spring rod 215 is respectively fixedly connected to one side of each driving plate 211.

[0040] Optionally, each alarm linkage rod 213 is in contact with the trigger end of each bistable trigger switch 214. Two adjacent sound and light alarms 207 are respectively electrically connected to each bistable trigger switch 214. Each electric telescopic rod 206 is electrically connected to the control main unit 203. Each sound and light alarm 207 is electrically connected to the driving motor 204. A stabilizing rod 3 is fixedly connected to the bottom end of the driving motor 204, and one end of the stabilizing rod 3 is fixedly connected to the outer wall of the permanent magnet motor body 1.

[0041] Optionally, a dust-proof mechanism 4 is provided outside the permanent magnet motor body 1. The dust-proof mechanism 4 includes a heat-conducting cylinder 401, heat-dissipating fins 402, a cleaning ring plate 403 and a heat-conducting sheet 404. The inner wall of the permanent magnet motor body 1 is fixedly connected with a heat-conducting sheet 404. The outer wall of the heat-conducting sheet 404 penetrates through the permanent magnet motor body 1, and the outer wall of the heat-conducting sheet 404 is fixedly connected with a heat-conducting cylinder 401. The outer wall of the heat-conducting cylinder 401 is fixedly connected with heat-dissipating fins 402. A cleaning ring plate 403 is slidably connected to the outer wall of the heat-conducting cylinder 401, and the inner side of the cleaning ring plate 403 is in contact with the inner wall of the heat-dissipating fins 402.

[0042] Working principle: The fault protection mechanism 2 is used in conjunction with the permanent magnet motor body 1, and has the advantages of structural adaptability, reliable operation, and timely response. It is especially suitable for high-precision and high-stability operation scenarios. When the permanent magnet motor body 1 performs self-check during operation, the control main control 203 controls the electric telescopic rod 206 to act, pushing the detection component installation box 208 close to the outer wall of the rotor, so that the air gap detection piece 209 is closely attached between the inner wall of the stator and the outer wall of the rotor, forming a stable detection state. To ensure the continuity and coverage of detection, the drive motor 204 drives the transmission gear 201 and the driven gear ring 205 to rotate around the rotor for one week, so that the air gap detection piece 209 performs dynamic detection on the entire air gap area. When there is too large or too small air gap deviation during the operation of the permanent magnet motor body 1, the air gap detection piece 209 generates an offset, and then drives the alarm trigger plate 212 and the alarm linkage rod 213 to move through the drive plate 211. When the linkage rod disengages from the trigger end of the two-way trigger switch 214, the switch is immediately triggered, starting the sound and light alarm 207 and cutting off the power supply of the drive permanent magnet motor body 1, forcibly stopping the operation of the detection mechanism, thereby preventing further possible damage and playing a real-time and mandatory protection role. The setting of the reset spring rod 215 ensures that the detection piece maintains an appropriate adhesion force in the non-trigger state, avoiding detection errors or damage to the surfaces of the stator and rotor caused by loosening or excessive pressing. At the same time, the adjustment structure has adaptability, and the length of the alarm linkage rod 213 is adjustable to adapt to the structures of different specifications of the permanent magnet motor body 1, thereby improving the applicability of the fault protection mechanism 2 in various industrial scenarios. During the operation of the permanent magnet motor body 1, a large amount of heat will be generated in its internal windings and iron cores under long-term power-on and high-speed rotation. To ensure that the permanent magnet motor body 1 operates within a safe temperature range and extend its service life, a dust-proof and heat-dissipation integrated mechanism is set up. Specifically, the inner wall of the permanent magnet motor body 1 conducts the internal heat effectively to the outside of the permanent magnet motor body 1 through the fixed heat-conducting sheet 404. The heat-conducting sheet 404 penetrates the shell of the permanent magnet motor body 1 and is connected to the heat-conducting cylinder 401, further diffusing and transmitting the heat. The outside of the heat-conducting cylinder 401 is provided with heat-dissipating fins 402, which realize rapid heat release by increasing the surface area and relying on air convection, improving the heat-dissipation efficiency. In addition, the cleaning ring plate 403 slidably connected to the outside of the heat-conducting cylinder 401 can slide along the heat-conducting cylinder 401 during use or maintenance to mechanically clean the inner wall of the heat-dissipating fins 402, preventing dust or oil stains from depositing and affecting the heat-dissipation performance, thereby realizing both heat-dissipation and dust-proof functions and improving the stability and reliability of the permanent magnet motor body 1. Compared with the traditional method that only relies on software alarms or manual inspections, the present invention has the fault protection characteristics of "responding immediately to abnormalities" and "cutting off power when there is a deviation" through mechanical structure real-time feedback, greatly improving the safety, intelligence and adaptability of the servo system, significantly reducing the equipment failure rate and maintenance cost, and is especially suitable for the long-term stable operation of precision equipment.

[0043] The basic principles, main features and advantages of the present invention have been shown and described above. Standard parts used in the present invention can be purchased from the market. Special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets and welding which are mature in the prior art. Machines, parts and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0044] The above are only embodiments of the present invention, and thus do not limit the patent scope of the present invention. All equivalent transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in related technical fields, are similarly included in the patent protection scope of the present invention.

Claims

1. A permanent magnet motor for a robot, comprising a permanent magnet motor body (1), characterized in that: A fault protection mechanism (2) is provided outside the permanent magnet motor body (1). The fault protection mechanism (2) includes a set of two air gap detection pieces (209). The top end of each air gap detection piece (209) is connected to a driving plate (211). An alarm trigger plate (212) is fixedly connected to the inner side of each driving plate (211). A bidirectional trigger switch (214) is provided between every two alarm trigger plates (212).

2. The permanent magnet motor for a robot according to claim 1, wherein: The fault protection mechanism (2) further includes two driven gear rings (205). A transmission gear (201) is meshed with the outer wall of each driven gear ring (205). A driving connecting rod (202) is fixedly connected between the two transmission gears (201). A limiting member (6) is rotatably connected to the middle of the driving connecting rod (202). The limiting member (6) is fixedly connected to the outer wall of the permanent magnet motor body (1).

3. The permanent magnet motor for a robot according to claim 2, wherein: A driving motor (204) is provided at the bottom of one of the transmission gears (201). The output end of the driving motor (204) is fixedly connected to the bottom central axis of one of the transmission gears (201).

4. A permanent magnet motor for a robot according to claim 3, wherein: A control main unit (203) is connected to the outside of the driving motor (204). The outer sides of two adjacent air gap detection pieces (209) are attached to the inner wall of the permanent magnet motor body (1).

5. A permanent magnet motor for a robot according to claim 4, characterized in that: Two connecting plates (5) are fixedly connected to the inner wall of each driven gear ring (205). An electric telescopic rod (206) is fixedly connected to the bottom end of each connecting plate (5).

6. A permanent magnet motor for a robot according to claim 5, characterized in that: A detection component installation box (208) is fixedly connected to the free end of each electric telescopic rod (206). Two sound and light alarms (207) are fixedly connected to one side of the outer wall of each detection component installation box (208).

7. A permanent magnet motor for a robot according to claim 6, characterized in that: A guiding groove (210) is formed on the other side of the outer wall of each detection component installation box (208). The two sides of each air gap detection piece (209) are respectively slidably connected to the inner wall of each guiding groove (210).

8. A permanent magnet motor for a robot according to claim 7, characterized in that: The bidirectional trigger switches (214) are respectively installed on the inner walls of the four detection component installation boxes (208). A reset spring rod (215) is fixedly connected to both sides of the inner wall of each detection component installation box (208). One end of each reset spring rod (215) is respectively fixedly connected to one side of each driving plate (211).

9. A permanent magnet motor for a robot according to claim 6, characterized in that: Two adjacent sound and light alarms (207) are respectively electrically connected to the bidirectional trigger switch (214). Each electric telescopic rod (206) is electrically connected to the control main unit (203). The sound and light alarm (207) is electrically connected to the driving motor (204). A stabilizing rod (3) is fixedly connected to the bottom end of the driving motor (204). One end of the stabilizing rod (3) is fixedly connected to the outer wall of the permanent magnet motor body (1).

10. A permanent magnet motor for a robot according to claim 1, characterized in that: A dust-proof mechanism (4) is provided outside the permanent magnet motor body (1). The dust-proof mechanism (4) includes a heat-conducting cylinder (401), heat-dissipating fins (402), a cleaning ring plate (403), and heat-conducting sheets (404). The inner wall of the permanent magnet motor body (1) is fixedly connected to the heat-conducting sheets (404). The outer wall of the heat-conducting sheets (404) penetrates through the permanent magnet motor body (1), and the outer wall of the heat-conducting sheets (404) is fixedly connected to the heat-conducting cylinder (401). The outer wall of the heat-conducting cylinder (401) is fixedly connected to the heat-dissipating fins (402). The outer wall of the heat-conducting cylinder (401) is slidably connected to the cleaning ring plate (403), and the inner side of the cleaning ring plate (403) fits against the inner wall of the heat-dissipating fins (402).

Images