Permanent magnet motor for robots

Abstract

The application relates to a permanent magnet motor for a robot and relates to the technical field of robots, and comprises a permanent magnet motor body, wherein a fault protection mechanism is arranged outside the permanent magnet motor body; in the application, when the air gap deviation sensed by the detection sheet exceeds the normal range, the linkage mechanism can immediately trigger the switch, the audible and visual alarm is started, and the driving motor is forcibly turned off, abnormal air gap is effectively prevented from causing equipment wear or damage, the safety and stability are improved, meanwhile, the alarm linkage rod in the fault protection mechanism is adjustable in length, can be adapted to permanent magnet motor body structures of different specifications, the universality is enhanced, and the industrial application requirements in multiple scenes can be met, in addition, the reset spring rod provides a suitable fitting force, the air gap detection sheet can be tightly fitted to the surfaces of the stator and the rotor, the sensitivity and stability of detection are improved, damage to the precision components is avoided, and the accuracy of the detection result is ensured.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robots, and in particular to a permanent magnet motor for robots. BACKGROUND

[0002] With the rapid development of intelligent manufacturing, industrial automation and service robots, robots have higher requirements for the response speed, control accuracy and compactness of the driving system. Permanent magnet motors have been widely used in various robot driving devices, especially in torque servo systems and high-precision motion control occasions, due to their high power density, high efficiency and compact structure. Compared with traditional induction motors, permanent magnet motors do not need excitation devices, reduce energy loss, improve system response speed and control stability, and have become one of the preferred driving solutions for robot execution joints or end execution mechanisms.

[0003] The prior art patent CN107070066A discloses a permanent magnet motor for robots, which basically comprises a motor body and a handle. The handle is located on the front surface of the motor body. The surface of the motor body is sleeved with a sleeve ring located on both sides of the handle. The top and bottom of the sleeve ring are fixedly connected with connecting blocks. The front surface of the connecting block is fixedly connected with a connecting rod. The top and bottom of the handle are fixedly connected with fixed sleeves. The two sides inside the fixed sleeve are movably connected with supporting rods. The two ends of the supporting rods extend to the two sides of the fixed sleeve through the fixed sleeve. The connecting block, the connecting rod, the handle, the fixed sleeve, the supporting rod, the supporting block, the fixed block and the threaded groove are arranged, so that the handle can be separated from the motor. The sleeve ring can be quickly removed 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 actual implementation process, there are still some problems:

[0005] 1. In the application of traditional permanent magnet motors, the size of the air gap between the rotor and the stator directly affects the motor performance. If the air gap deviates due to wear, structural deformation or installation error, it will cause uneven magnetic field, torque fluctuation, and even cause motor overheating, jamming or damage. However, most of the existing permanent magnet motors lack real-time monitoring and active response mechanism for the air gap state, and usually rely on manual inspection or periodic maintenance, which is not only low in efficiency, but also easy to miss early signs of failure, leading to serious consequences. In addition, some existing air gap monitoring devices have the problems of complex structure, large size and poor adaptability, which are difficult to be flexibly deployed in robots with limited size or multiple specifications.

[0006] 2. Under high-load, high-frequency operating conditions, especially in long-term continuous operation scenarios such as industrial robots, permanent magnet motors generate a large amount of heat in their internal core and windings. If heat dissipation is not timely, it will lead to excessive temperature rise, affecting the magnetic properties of the permanent magnets and even shortening the motor's lifespan. Currently, many permanent magnet motors use passive cooling or single air cooling methods, which have low heat dissipation efficiency. Moreover, the heat dissipation structure is exposed to the industrial environment for a long time, making it easy to accumulate dust and oil, 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, causing the system's heat dissipation performance to gradually decline. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] To address the aforementioned problems in the prior art, this invention provides a permanent magnet motor for robots, which solves the problems of error accumulation and fault amplification caused by the lack of high-sensitivity air gap monitoring in traditional motor operation, as well as the short heat conduction path of the heat dissipation structure of traditional permanent magnet motors.

[0009] (II) Technical Solution

[0010] To achieve the above objectives, the main technical solution adopted by the present invention is as follows:

[0011] A permanent magnet motor for robots includes a permanent magnet motor body. A fault protection mechanism is provided on the outside of the permanent magnet motor body. The fault protection mechanism includes two air gap detection plates as a group. A drive plate is connected to the top of each air gap detection plate. An alarm trigger plate is fixedly connected to the inner side of each drive plate. A bidirectional trigger switch is provided between every two alarm trigger plates.

[0012] The fault protection mechanism also includes two driven gear rings, each driven gear ring having a transmission gear meshing on its outer wall. A drive connecting rod is fixedly connected between the two transmission gears, and a limit member is rotatably connected to the middle of the drive connecting rod. The limit member is fixedly connected to the outer wall of the permanent magnet motor body.

[0013] One of the transmission gears has a drive motor at its bottom, and the output end of the drive motor is fixedly connected to the central shaft at the bottom of one of the transmission gears.

[0014] The drive motor is connected to a main control unit on its outer side, and the outer sides of two adjacent air gap detection plates are attached to the inner wall of the permanent magnet motor body.

[0015] Each of the driven gear rings has two connecting plates fixedly connected to its inner wall, and each connecting plate has an electric telescopic rod fixedly connected to its bottom end.

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

[0017] The outer wall of each detection component mounting box is provided with a guide groove on the other side, and the two sides of each air gap detection sheet are respectively slidably connected to the inner wall of each guide groove.

[0018] Each bidirectional trigger switch is respectively mounted to the inner wall of four detection component mounting boxes, the inner wall of each detection component mounting box is fixedly connected with a reset spring rod on both sides, and one end of each reset spring rod is fixedly connected to one side of each driving plate.

[0019] Each alarm linkage rod is attached to the trigger end of each bidirectional trigger switch, and the adjacent two sound-light alarms are respectively electrically connected with each bidirectional trigger switch, each electric telescopic rod is electrically connected with a control master, and each sound-light alarm is electrically connected with a driving motor, the bottom end of the driving motor is fixedly connected with a stable rod, and one end of the stable rod is fixedly connected with the outer wall of the permanent magnet motor body.

[0020] The outer wall of the permanent magnet motor body is provided with a dustproof mechanism, the dustproof mechanism comprises a heat conduction cylinder, a heat dissipation fin, a cleaning ring plate and a heat conduction sheet, the inner wall of the permanent magnet motor body is fixedly connected with the heat conduction sheet, the outer wall of the heat conduction sheet penetrates the permanent magnet motor body, the outer wall of the heat conduction sheet is fixedly connected with the heat conduction cylinder, the outer wall of the heat conduction cylinder is fixedly connected with the heat dissipation fin, the outer wall of the heat conduction cylinder is slidably connected with the cleaning ring plate, and the inner side of the cleaning ring plate is attached to the inner wall of the heat dissipation fin.

[0021] The beneficial effects of the present application are:

[0022] 1、In the present application, when the detection sheet senses that the air gap deviation exceeds the normal range, the fault protection mechanism can immediately trigger the switch through the linkage mechanism, start the sound-light alarm and forcibly close the driving motor, effectively prevent the equipment wear or damage caused by air gap anomaly, improve the safety and stability, at the same time, the length of the alarm linkage rod in the fault protection mechanism is adjustable, which is suitable for different specifications of permanent magnet motor body structure, enhances the universality, meets the needs of multi-scene industrial application, in addition, the reset spring rod provides a suitable fit force, so that the air gap detection sheet can tightly fit the surface of the stator and rotor, improve the sensitivity and stability of detection, at the same time, avoid damage to the precision parts, ensure the accuracy of the detection result, the whole mechanism has the advantages of compact structure, reliable action, rapid response and the like, can realize efficient monitoring and instant protection of the running state of the permanent magnet motor body, prolong the service life of the equipment, reduce the failure rate and maintenance cost, has remarkable practical value and popularization significance.

[0023] 2、The dustproof mechanism is arranged, in the permanent magnet motor body running process, the internal winding and the iron core will produce a large amount of heat under long-term energization and high-speed operation, in order to ensure that the permanent magnet motor body runs in the safe temperature range, prolongs its service life, the dustproof and heat dissipation integrated mechanism is arranged, specifically, the inner wall of the permanent magnet motor body is connected with the heat conduction cylinder through the fixed heat conduction sheet, the heat conduction sheet penetrates the permanent magnet motor body shell and is connected with the heat conduction cylinder, further diffuses and transmits heat, the outer portion of the heat conduction cylinder is provided with heat dissipation fins, the surface area is increased, and air convection is relied on to realize rapid heat release, improve the heat dissipation efficiency, in addition, the cleaning ring plate slidingly connected outside the heat conduction cylinder can slide along the heat conduction cylinder during use or maintenance, and mechanically cleans the inner wall of the heat dissipation fin, prevents dust or oil stains from being deposited to affect the heat dissipation performance, so that the heat dissipation and dustproof functions are realized at the same time, and the stability and reliability of the permanent magnet motor body are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the application;

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

[0026] Figure 3 It is a structural schematic diagram of the driving motor part of the application;

[0027] Figure 4 It is a structural schematic diagram of the application; Figure 3 It is an enlarged view of A in the application;

[0028] Figure 5 It is a structural schematic diagram of the detection assembly installation box part of the application;

[0029] Figure 6 It is a structural schematic diagram of the application; Figure 5 It is an enlarged view of B in the application.

[0030] In the figure: 1, permanent magnet motor body; 2, fault protection mechanism; 201, transmission gear; 202, driving connecting rod; 203, control master; 204, driving motor; 205, driven gear ring; 206, electric telescopic rod; 207, sound and light alarm; 208, detection assembly installation box; 209, air gap detection sheet; 210, guide groove; 211, driving plate; 212, alarm trigger plate; 213, alarm linkage rod; 214, two-way trigger switch; 215, reset spring rod; 3, stable rod; 4, dustproof mechanism; 401, heat conduction cylinder; 402, heat dissipation fin; 403, cleaning ring plate; 404, heat conduction sheet; 5, connecting plate; 6, limiting piece. DETAILED DESCRIPTION

[0031] In order to better explain the present application, in order to facilitate understanding, the following specific embodiments, combined with the drawings, make a detailed description of the present application.

[0032] Please refer to Figures 1 to 6 The permanent magnet motor for robot of the present application comprises a permanent magnet motor body 1, a fault protection mechanism 2 is arranged outside the permanent magnet motor body 1, the fault protection mechanism 2 comprises two air gap detection pieces 209 arranged in a group, the top end of each air gap detection piece 209 is connected with a driving plate 211, the inner side of each driving plate 211 is fixedly connected with an alarm trigger plate 212, and a two-way trigger switch 214 is arranged between every two alarm trigger plates 212.

[0033] Optionally, the fault protection mechanism 2 further comprises two driven gear rings 205, the outer wall of each driven gear ring 205 is engaged with a transmission gear 201, the two transmission gears 201 are fixedly connected with a driving connecting rod 202, the middle part of the driving connecting rod 202 is rotatably connected with a limiting piece 6, and the limiting piece 6 is fixedly connected to the outer wall of the permanent magnet motor body 1. In the actual implementation process, the engagement structure between the driven gear ring 205 and the transmission gear 201 is arranged, so that the driving connecting rod 202 drives the whole detection mechanism to rotate around the permanent magnet motor body 1 under the action of the driving source, thereby realizing omnibearing scanning detection of multiple air gap positions and effectively avoiding the local error problem caused by single-point detection.

[0034] Optionally, the bottom of one of the transmission gears 201 is provided with a driving motor 204, and the output end of the driving motor 204 is fixedly connected to the bottom center shaft of one of the transmission gears 201. In the actual implementation process, the driving motor 204 directly provides a rotary driving force, which is transmitted to the transmission gear 201 through the center shaft, and then drives the driven gear ring 205 and the detection component mounting box 208 to rotate through the engagement relationship, so that the air gap detection mechanism realizes tracking detection of the outer circle of the whole permanent magnet motor body 1.

[0035] Optionally, the outer side of the driving motor 204 is connected with a control master 203, and the outer sides of the 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 attachment arrangement of the detection piece ensures that it is always attached to the air gap area between the motor stator and the rotor, improves the measurement reference consistency, and enhances the detection data reliability.

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

[0037] Optionally, the free end of each electric telescopic rod 206 is fixedly connected with a detection component mounting box 208, and the outer wall of each detection component mounting box 208 is fixedly connected with two sound-light alarms 207 on one side.

[0038] Optionally, the outer wall of each detection component mounting box 208 is provided with a guide groove 210 on the other side, and the two sides of each air gap detection sheet 209 are respectively connected to the inner wall of each guide groove 210.

[0039] Optionally, each bidirectional trigger switch 214 is respectively mounted on the inner wall of the four detection component mounting boxes 208, the inner wall of each detection component mounting box 208 is 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 attached to the trigger end of each bidirectional trigger switch 214, the adjacent two sound-light alarms 207 are respectively electrically connected with each bidirectional trigger switch 214, each electric telescopic rod 206 is electrically connected with the control master 203, each sound-light alarm 207 is electrically connected with the driving motor 204, the bottom end of the driving motor 204 is fixedly connected with a stable rod 3, and one end of the stable rod 3 is fixedly connected with the outer wall of the permanent magnet motor body 1.

[0041] Optionally, the outer wall of the permanent magnet motor body 1 is provided with a dustproof mechanism 4, the dustproof mechanism 4 includes a heat conduction cylinder 401, a heat dissipation fin 402, a cleaning ring plate 403 and a heat conduction sheet 404, the inner wall of the permanent magnet motor body 1 is fixedly connected with the heat conduction sheet 404, the outer wall of the heat conduction sheet 404 penetrates the permanent magnet motor body 1, the outer wall of the heat conduction sheet 404 is fixedly connected with the heat conduction cylinder 401, the outer wall of the heat conduction cylinder 401 is fixedly connected with the heat dissipation fin 402, the outer wall of the heat conduction cylinder 401 is slidably connected with the cleaning ring plate 403, and the inner side of the cleaning ring plate 403 is attached to the inner wall of the heat dissipation fin 402.

[0042] Working principle: The fault protection mechanism 2 is used in cooperation with the permanent magnet motor body 1, has the advantages of structure self-adaptation, reliable action, timely response and the like, and is especially suitable for high-precision and high-stability operation scenes. When the permanent magnet motor body 1 runs self-checking, the control main control 203 controls the electric telescopic rod 206 to act, pushes the detection assembly mounting box 208 to be close to the rotor outer wall, makes the air gap detection sheet 209 be close to the stator inner wall and the rotor outer wall, forms a stable detection state, in order to ensure the continuity and coverage of detection, the driving motor 204 drives the transmission gear 201 and the driven gear ring 205 to realize rotation around the rotor, so that the air gap detection sheet 209 dynamically detects the whole air gap area. When the air gap deviation of the permanent magnet motor body 1 is too large or too small during operation, the air gap detection sheet 209 is offset, and then the driving plate 211 drives the alarm trigger plate 212 and the alarm linkage rod 213 to move. When the linkage rod is separated from the trigger end of the two-way trigger switch 214, the switch triggers immediately, starts the sound and light alarm 207 and cuts off the driving power supply of the permanent magnet motor body 1, and forcibly stops the operation of the detection mechanism, so as to prevent further possible damage and play a real-time and forced protection role. The reset spring rod 215 ensures that the detection sheet maintains appropriate adhesion force in the non-trigger state, avoids detection errors or damage to the stator and rotor surfaces due to looseness or excessive compression. At the same time, the adjustment structure has adaptability, the length of the alarm linkage rod 213 is adjustable, and it is suitable for permanent magnet motor bodies 1 of different specifications, so as to improve the applicability of the fault protection mechanism 2 in various industrial scenes. During the operation of the permanent magnet motor body 1, the internal winding and core will generate a large amount of heat under long-term power supply and high-speed operation. In order to ensure that the permanent magnet motor body 1 operates within a safe temperature range and prolong its service life, a dustproof and heat dissipation integrated mechanism is provided. Specifically, the inner wall of the permanent magnet motor body 1 effectively conducts internal heat to the outside of the permanent magnet motor body 1 through the fixed heat conduction sheet 404. The heat conduction sheet 404 penetrates the shell of the permanent magnet motor body 1 and is connected with the heat conduction cylinder 401, which further diffuses and transmits heat. The outer part of the heat conduction cylinder 401 is provided with heat dissipation fins 402, which can realize rapid heat release by increasing the surface area and relying on air convection to improve the heat dissipation efficiency. In addition, the cleaning ring plate 403 connected with the heat conduction cylinder 401 can slide along the heat conduction cylinder 401 during use or maintenance, mechanically clean the inner wall of the heat dissipation fin 402, and prevent dust or oil stains from affecting the heat dissipation performance, so as to realize the functions of heat dissipation and dust prevention at the same time, improve the stability and reliability of the permanent magnet motor body 1, and compared with the traditional software alarm or manual inspection method, the present application can realize real-time feedback through mechanical structure, has the fault protection characteristics of "abnormal response" and "deviation power-off", greatly improves the safety, intelligence and self-adaptability of the servo system, significantly reduces the equipment failure rate and maintenance cost, and is especially suitable for long-term stable operation of precision equipment.

[0043] The basic principle and main features of the present application and the advantages of the present application are shown and described above, and the standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolt rivet, welding in the prior art, the mechanical, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here.

[0044] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent transformation or direct or indirect application in the related technical field by using the content of the specification and drawings of the present application is also included in the patent protection scope of the present application.

Claims

1. A permanent magnet motor for robots, comprising a permanent magnet motor body (1), characterized in that: The outer part of the permanent magnet motor body (1) is provided with a fault protection mechanism (2), the fault protection mechanism (2) comprises two air gap detection pieces (209) in a group, the top end of each air gap detection piece (209) is connected with a driving plate (211), the inner side of each driving plate (211) is fixedly connected with an alarm trigger plate (212), and a two-way trigger switch (214) is arranged between every two alarm trigger plates (212); the fault protection mechanism (2) further comprises two driven gear rings (205), the outer wall of each driven gear ring (205) is engaged with a transmission gear (201), the two transmission gears (201) are fixedly connected with a driving connecting rod (202), the middle part of the driving connecting rod (202) is rotatably connected with a limiting piece (6), the limiting piece (6) is fixedly connected to the outer wall of the permanent magnet motor body (1), the bottom of one of the transmission gears (201) is provided with a driving motor (204), and the output end of the driving motor (204) is fixedly connected to the bottom center shaft of one of the transmission gears (201); the outer side of the driving motor (204) is connected with a control master (203), and the outer sides of the two adjacent air gap detection pieces (209) are attached to the inner wall of the permanent magnet motor body (1); the inner wall of each driven gear ring (205) is fixedly connected with two connecting plates (5), and the bottom end of each connecting plate (5) is fixedly connected with an electric telescopic rod (206); the free end of each electric telescopic rod (206) is fixedly connected with a detection assembly mounting box (208), and the outer wall of each detection assembly mounting box (208) is fixedly connected with two sound-light alarms (207) on one side; the two adjacent sound-light alarms (207) are electrically connected with the two-way trigger switch (214) respectively, each electric telescopic rod (206) is electrically connected with the control master (203), the sound-light alarm (207) is electrically connected with the driving motor (204), and the bottom end of the driving motor (204) is fixedly connected with a stable rod (3), and one end of the stable rod (3) is fixedly connected with the outer wall of the permanent magnet motor body (1).

2. A permanent magnet electric machine for a robot according to claim 1, characterized in that: The outer wall of each detection assembly mounting box (208) is provided with a guide groove (210) on the other side, and the two sides of each air gap detection piece (209) are respectively connected to the inner wall of each guide groove (210).

3. A permanent magnet motor for a robot according to claim 2, characterized in that: The two-way trigger switch (214) is respectively installed on the inner wall of the four detection assembly mounting boxes (208), the inner wall of the detection assembly mounting box (208) is fixedly connected with a reset spring rod (215) on both sides, and one end of each reset spring rod (215) is fixedly connected to one side of each driving plate (211).

4. The permanent magnet motor for a robot according to claim 1, characterized by: The dustproof mechanism (4) is arranged outside the permanent magnet motor body (1), and comprises a heat conduction cylinder (401), a heat dissipation fin (402), a cleaning ring plate (403) and a heat conduction sheet (404), the inner wall of the permanent magnet motor body (1) is fixedly connected with the heat conduction sheet (404), the outer wall of the heat conduction sheet (404) penetrates the permanent magnet motor body (1), the outer wall of the heat conduction sheet (404) is fixedly connected with the heat conduction cylinder (401), the outer wall of the heat conduction cylinder (401) is fixedly connected with the heat dissipation fin (402), the outer wall of the heat conduction cylinder (401) is slidably connected with the cleaning ring plate (403), and the inner side of the cleaning ring plate (403) is attached to the inner wall of the heat dissipation fin (402).

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