Driving module with heat dissipation structure

Abstract

The invention discloses a driving module with a heat dissipation structure, which comprises a shell, a stator, a rotor assembly, a wind shielding assembly and a speed reducer assembly, the stator is nested in a shell cavity of the shell, the rotor assembly is arranged in the stator, the output end of the rotor assembly and the input end of the speed reducer assembly are limited and fixed along the circumferential direction, and the rotor assembly is configured to rotate relative to the stator; a runner is formed between the shell and the stator, one end of the runner is communicated with a cooling source for outputting cooling fluid, and the other end of the runner is provided with an outlet; the air blocking assembly extends into the flow channel in the radial direction of the shell. The motor has the beneficial effects that the flow channel for the cooling fluid to flow is formed between the shell and the stator, so that a good heat dissipation effect is achieved; on the basis, a wind blocking assembly is further arranged, the wind blocking assembly extends into the flow channel, flowing of cooling fluid is blocked, the cooling fluid generates turbulent flow by increasing wind resistance and changing the trend of the cooling fluid, the cooling fluid can make full contact with a heating stator, more heat is taken away, and rapid heat dissipation is achieved.

Description

Technical Field

[0001] The present invention relates to a driving module with a heat dissipation structure, and in particular to a driving module with a heat dissipation structure. Background Art

[0002] To achieve miniaturization and lightweight, humanoid robot joint modules typically adopt a compact, integrated design, integrating a frameless torque motor, reducer, encoder, and other components within the housing. When a humanoid robot is continuously operating or engaging in high-power output scenarios like jumping, running, and even somersaults, the motor stator coils within the joint module generate significant heat.

[0003] Existing technology uses an internal rotor motor solution, where the motor stator is nested and fixed within the module housing, with the motor rotor inside the stator. The rotor is connected to the reducer via an adapter to achieve power output. The motor stator is the primary heat source, and the heat generated by it is mainly transferred away by the metal housing. However, to achieve a balance between lightweight and cost, the housing is typically made of aluminum alloy, which has limited thermal conductivity and cannot meet the requirements for rapid heat dissipation, thus affecting the robot's ability to work continuously and output high-burst output.

[0004] The information disclosed in this background section is only intended to enhance understanding of the overall background of the invention and should not be considered as an admission or any form of suggestion that the information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to solve the problem of poor heat dissipation of the stator.

[0006] The present invention solves the above technical problems through the following technical means:

[0007] The present invention claims protection for a drive module with a heat dissipation structure, comprising a housing, a stator, a rotor assembly, and a reducer assembly, wherein the stator is nested within a shell cavity of the housing, the rotor assembly is disposed within the stator, an output end of the rotor assembly is fixedly positioned circumferentially with an input end of the reducer assembly, and the rotor assembly is configured to rotate relative to the stator;

[0008] It also includes a windshield assembly, a flow channel is formed between the shell and the stator, one end of the flow channel is connected to a cooling source for outputting cooling fluid, and an outlet is provided at the other end of the flow channel; the windshield assembly extends into the flow channel radially along the shell, a gap is left between the windshield assembly and the flow channel, and the windshield assembly hinders the flow of the cooling fluid.

[0009] Preferably, the shell includes a cylinder and a first end cover. The cylinder has a stepped cylinder structure and its diameter decreases successively. The stator is coaxially nested in the cylinder cavity of the large diameter section of the cylinder. One end of the stator contacts the shaft shoulder of the shell and the other end contacts the first end cover. The first end cover is sealed at the cylinder mouth of the large diameter section of the cylinder. An annular groove is provided along the circumferential direction of the inner cylinder wall of the large diameter of the shell, and the annular groove and the stator enclose to form a flow channel.

[0010] Preferably, one or more wind shield components are provided in the large diameter section of the cylinder, and the wind shield components extend into the annular groove along the radial direction of the shell, and gaps are reserved between each other for the circulation of cooling fluid.

[0011] Preferably, the large diameter section of the cylinder radially penetrates the windshield hole, and the windshield hole is connected to the annular groove, and a windshield column is coaxially inserted into the windshield hole, and the windshield column constitutes a windshield assembly.

[0012] Preferably, the windshield column is a two-section stepped shaft structure, and the windshield column is inserted into the windshield hole until the shoulder of the windshield column contacts and fits with the outer wall of the shell.

[0013] Preferably, the large diameter section of the cylinder radially penetrates at least one inlet hole and at least one outlet hole, and both the inlet hole and the outlet hole are connected to the annular groove, the inlet hole is connected to the cooling source through a first joint, and the outlet hole discharges the cooling fluid through a second joint, and the outlet hole and the second joint together constitute an outlet.

[0014] Preferably, the inlet hole and the outlet hole are symmetrically arranged along the axis of the shell.

[0015] Preferably, the rotor assembly includes a bearing, a first mounting frame and a rotor body. The rotor body is coaxially arranged in the stator, and the rotor body is mounted on the first end cover through the first mounting frame. A bearing is arranged between the first end cover and the first mounting frame.

[0016] Preferably, the shell also includes a second end cover, the second end cover is connected to the needle tooth seat, the needle tooth seat is sleeved with a cycloidal wheel, the cycloidal wheel is provided with an eccentric shaft, the eccentric shaft is connected to the first mounting frame through a spline, the output disc is sleeved in the needle tooth seat, and the needle tooth seat, cycloidal wheel, eccentric shaft and output disc together constitute a reducer assembly.

[0017] Preferably, it also includes an encoder assembly, which includes a control board, a second mounting bracket, a magnetic ring and a sleeve. The first mounting bracket is connected to one end of the first screw, and the other end of the first screw passes through the first end cover. The first screw is located outside the shell and a sleeve is provided. The first mounting bracket is installed on the sleeve, and the magnetic ring is provided on the sleeve. The second mounting bracket is provided on the first end cover on one side of the magnetic ring, and the control board is provided on the second mounting bracket.

[0018] The advantages of the present invention are:

[0019] 1. The present invention forms a flow channel between the housing and the stator, one end of the flow channel is connected to the cooling source, and an outlet is provided at the other end of the flow channel, so that the cooling fluid is continuously input to cool the stator, and the heat source formed after cooling flows out through the outlet, achieving a good heat dissipation effect; on this basis, a windshield component is also provided, which extends into the flow channel through the windshield component to hinder the flow of the cooling fluid. By increasing the wind resistance and changing the direction of the cooling fluid, the cooling fluid generates turbulence, which can fully contact the heated stator and take away more heat to achieve rapid heat dissipation, thereby realizing stable output of the drive module.

[0020] Second, an annular groove is provided along the circumferential direction on the inner cylinder wall with a large diameter of the shell, so that the annular groove and the stator are enclosed to form a flow channel for the circulation of the cooling fluid. This design has three advantages. Advantage 1: It can play a good guiding role for the cooling fluid, and the cooling fluid does not disperse, and the cooling position is precisely concentrated on the stator; Advantage 2: The flow channel surrounds the outer ring of the stator, so that the flow channel length increases. Therefore, the flow path of the cooling fluid increases accordingly, and the heat dissipation effect is better; Third, in actual work, the windshield component mainly plays a role in blocking turbulence. Therefore, in theory, it is preferred to set up multiple windshield components to cause better turbulence effect, and the increase in flow channel length can provide sufficient space for the installation of the windshield component.

[0021] 3. The windshield assembly is preferably arranged on the cylinder to avoid contact between the windshield assembly and the stator, forming a heat dissipation mode independent of the stator; and when installing, a gap is ensured between the windshield assembly and the stator, so that on the basis of ensuring the flow and heat dissipation of the cooling fluid, the windshield assembly hinders the cooling fluid and plays a turbulent role.

[0022] 4. When installing, the windshield column can be directly plugged into the windshield hole. The shoulder of the windshield column and the outer wall of the shell can be in contact with each other, which can not only prevent the windshield column from falling off, but also determine whether the windshield column is installed in place.

[0023] 5. The inlet and outlet holes are arranged symmetrically along the axis of the shell, so that after the cooling fluid enters the flow channel from the cooling source, it diffuses to both sides of the flow channel and finally flows out from the outlet, ensuring that the heat dissipation on both sides is consistent and uniform as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of a drive module with a heat dissipation structure according to the present invention;

[0025] Figure 2 This is a top view of a drive module with a heat dissipation structure according to the present invention;

[0026] Figure 3 yes Figure 2 AA perspective cross-section structure diagram;

[0027] Figure 4 This is a side view of a drive module with a heat dissipation structure according to the present invention;

[0028] Figure 5 yes Figure 4 Schematic diagram of the structure cut away from the BB perspective.

[0029] 1. Housing; 10. Cylinder; 100. Inlet hole; 101. Annular groove; 102. Outlet hole; 103. First joint; 104. Second joint; 11. First end cap; 12. Second end cap; 13. Tail cap;

[0030] 2. Stator;

[0031] 30. Bearing; 31. First mounting frame; 32. Rotor body;

[0032] 40. Needle gear seat; 41. Cycloidal wheel; 42. Eccentric shaft; 420. Spline; 43. Output disc;

[0033] 50. Control panel; 51. Second mounting bracket; 52. Magnetic ring; 53. Bushing;

[0034] 6. Windshield assembly. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] See Figures 1 to 5The present invention claims protection for a drive module with a heat dissipation structure, including a shell 1, a stator 2, a rotor assembly, a reducer assembly, a windshield assembly 6 and an encoder assembly. The stator 2 is nested in the shell cavity of the shell 1. The shell 1 includes a cylinder 10 and a first end cover 11. The cylinder 10 is a stepped cylinder structure, and the diameter decreases successively. The stator 2 is coaxially nested in the cylinder cavity of the large diameter section of the cylinder 10. One end of the stator 2 contacts the shaft shoulder of the shell 1, and the other end contacts the first end cover 11. The first end cover 11 is sealed at the cylinder mouth of the large diameter section of the cylinder 10; a rotor assembly is arranged in the stator 2, and the rotor assembly includes a bearing 30, a first mounting bracket 31 and a rotor body 32. The rotor body 32 is coaxially arranged in the stator 2, and the rotor body 32 is mounted on the first end cover 11 through the first mounting bracket 31. A bearing 30 is arranged between the first end cover 11 and the first mounting bracket 31. The first mounting bracket 31 is connected to one end of the first screw, and the other end of the first screw passes through the first end cover 11. The first screw is located outside the shell 1 and is sleeved with a shaft sleeve 53. The first mounting bracket 31 is installed on the shaft sleeve 53, and a magnetic ring 52 is provided on the shaft sleeve 53. The first end cover 11 is provided with a second mounting bracket 51, and the second mounting bracket is provided with a control board 50. The control board 50, the second mounting bracket 51, the magnetic ring 52 and the shaft sleeve 53 together constitute an encoder assembly.

[0037] The output end of the rotor assembly and the input end of the reducer assembly are fixed along the circumferential limit direction, wherein the rotor assembly is configured to rotate relative to the stator 2, the end of the shell 1 is connected to the first end cover 11, and the other end is connected to the needle tooth seat 40, the needle tooth seat 40 is sleeved with a cycloid wheel 41, the eccentric shaft 42 is set in the cycloid wheel 41, the eccentric shaft 42 is connected to the first mounting frame 31 through a spline 420, the output disk 43 is connected to the cycloid wheel 41, the needle tooth seat 40, the second end cover 12, the cycloid wheel 41, the eccentric shaft 42 and the output disk 43 together constitute the reducer assembly.

[0038] In actual application, the rotor body 32 and the first mounting bracket 31 rotate relative to the stator 2. One end of the first mounting bracket 31 close to the first end cover 11 is connected to the shaft sleeve 53 by a first screw. A magnetic ring 52 is provided on the shaft sleeve 53. A second mounting bracket 51 is provided on the first end cover 11 on one side of the magnetic ring 52. A control board 50 is provided on the second mounting bracket. The position and angle of the magnetic ring are detected by the control board 50 to confirm the rotation position and speed parameters of the rotor body 32. The encoder assembly is a sensor for measuring the rotation position. It is a prior art and will not be described in detail. It is worth noting that in order to ensure the sealing of the encoder assembly, the tail cover 13 is preferably sealed on the outside of the first end cover 11. The tail cover and the first end cover 11 together enclose a space for placing the encoder assembly.

[0039] The other end of the first mounting bracket 31 is connected to the eccentric shaft 42 via a spline 420, and the torque and speed are also transmitted to the eccentric shaft 42, which drives the cycloid wheel 41 to perform eccentric rotation. The number of teeth on the cycloid wheel 41 is less than that on the pinion gear seat. For each revolution, the cycloid wheel 41 rotates in the opposite direction by one tooth due to the difference in the number of teeth, achieving a high reduction ratio (the reduction ratio is the number of teeth on the pinion gear seat). Compared with a planetary reducer, the reduction ratio can be made larger, thereby reducing the power transmitted from the motor rotor and increasing the torque to meet the ultimate power requirements of the humanoid joint. Due to the existing technology, it will not be described in detail.

[0040] See Figures 1 to 5 , a flow channel is formed between the shell 1 and the stator 2, and an annular groove 101 is provided along the circumference of the inner cylinder wall of the large diameter of the shell 1, and the annular groove 101 and the stator 2 are enclosed to form a flow channel, one end of the flow channel is connected to the cooling source for outputting the cooling fluid, and an outlet is provided at the other end of the flow channel; by providing an annular groove 101 along the circumference of the inner cylinder wall of the large diameter of the shell 1, the annular groove 101 and the stator 2 are enclosed to form a flow channel for the circulation of the cooling fluid, such a design has three advantages, the first advantage is that it can play a good guiding role for the cooling fluid, the cooling fluid does not disperse, and the cooling position is precisely concentrated on the stator 2; the second advantage is that the flow channel surrounds the outer ring of the stator 2 for a week, so that the length of the flow channel increases, so the flow path of the cooling fluid increases accordingly, and the heat dissipation effect is better; third, in actual work, the windshield component 6 mainly plays a role in blocking turbulence, so Theoretically, it is preferred to set up multiple windshield components 6 to create a better turbulent flow effect. The increase in the length of the flow channel can provide sufficient space for the installation of the windshield component 6. The large-diameter section of the cylinder 10 radially penetrates at least one inlet hole 100 and at least one outlet hole 102. The inlet hole 100 and the outlet hole 102 are symmetrically arranged along the axis of the shell 1, and the inlet hole 100 and the outlet hole 102 are both connected to the annular groove 101. The inlet hole 100 is connected to the cooling source through a first joint 103, and the outlet hole 102 discharges the cooling fluid through a second joint 104. The outlet hole 102 and the second joint 104 together constitute an outlet. The inlet hole 100 and the outlet hole 102 are symmetrically arranged along the axis of the shell 1, so that after the cooling fluid enters the flow channel from the cooling source, it diffuses to both sides of the flow channel and finally flows out from the outlet, ensuring as much as possible the consistent heat dissipation on both sides and the uniform heat dissipation effect.

[0041] The windshield component 6 is extended into the flow channel along the radial direction of the shell, and a gap is left between the windshield component 6 and the flow channel, and the windshield component 6 hinders the flow of the cooling fluid. One or more windshield components 6 are set in the large diameter section of the cylinder 10. The windshield components 6 are extended into the annular groove 101 along the radial direction of the shell 1, and gaps are reserved between each other for the circulation of the cooling fluid. The windshield component 6 is preferably arranged on the cylinder 10 to avoid contact between the windshield component 6 and the stator 2, forming a heat dissipation mode independent of the stator 2; and when installing, ensure that a gap is reserved between the windshield component 6 and the stator 2 to ensure the flow of the cooling fluid. On the basis of dynamic heat dissipation, the windshield component 6 also hinders the cooling fluid and plays a turbulent role. The large diameter section of the cylinder 10 radially penetrates the windshield hole. The windshield column is a two-section stepped shaft structure. The windshield column is inserted into the windshield hole until the windshield column shoulder contacts and cooperates with the outer wall of the shell 1, and the windshield hole is connected to the annular groove 101. The windshield column is coaxially inserted in the windshield hole. The windshield column constitutes the windshield component 6. When installing, the windshield column can be directly inserted into the windshield hole. The windshield column shoulder contacts and cooperates with the outer wall of the shell 1, which not only prevents the windshield column from falling off, but also can determine whether the windshield column is installed in place.

[0042] The present invention forms a flow channel between the shell 1 and the stator 2, one end of the flow channel is connected to the cooling source, and an outlet is provided at the other end of the flow channel, so that the cooling fluid is continuously input to cool the stator 2, and the heat source formed after cooling flows out through the outlet, thereby achieving a good heat dissipation effect; on this basis, a windshield component 6 is also provided, which extends into the flow channel through the windshield component 6 to hinder the flow of the cooling fluid. By increasing the wind resistance and changing the direction of the cooling fluid, the cooling fluid generates turbulence, which can fully contact the heated stator 2 and take away more heat to achieve rapid heat dissipation, thereby realizing stable output of the drive module.

[0043] In actual applications, the cooling fluid is preferably cooling gas. The cooling gas flows from the first joint 103 into the inlet hole 100 to the annular groove 101, and flows through the stator 2 to dissipate heat to the stator 2. When the cooling gas passes through the windshield component 6, the blocking effect of the windshield component 6 changes the direction of the cooling gas, thereby extending the cooling gas flow path, so that the cooling gas is in full contact with the stator 2 to dissipate heat. Finally, the high-temperature gas formed after heat dissipation flows from the outlet hole 102 to the second joint 104 for discharge.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A drive module with a heat dissipation structure, characterized in that: The invention comprises a housing (1), a stator (2), a rotor assembly and a reducer assembly, wherein the stator (2) is nested in the housing cavity of the housing (1), the rotor assembly is arranged in the stator (2), the output end of the rotor assembly and the input end of the reducer assembly are fixed along the circumferential limit direction, wherein the rotor assembly is configured to rotate relative to the stator (2); It also includes a windshield assembly (6), a flow channel is formed between the shell (1) and the stator (2), one end of the flow channel is connected to a cooling source for outputting cooling fluid, and an outlet is provided at the other end of the flow channel; the windshield assembly (6) extends into the flow channel along the radial direction of the shell (1), a gap is left between the windshield assembly (6) and the flow channel, and the windshield assembly (6) creates an obstruction to the flow of the cooling fluid.

2. The driving module with a heat dissipation structure according to claim 1, characterized in that: The shell (1) comprises a cylinder (10) and a first end cover (11); the cylinder (10) is a stepped cylinder structure, and its diameter decreases successively; the stator (2) is coaxially nested in the cylinder cavity of the large diameter section of the cylinder (10); one end of the stator (2) contacts the shaft shoulder of the shell (1), and the other end contacts the first end cover (11); the first end cover (11) is sealed at the cylinder mouth of the large diameter section of the cylinder (10); an annular groove (101) is provided along the circumference of the large diameter inner cylinder wall of the shell (1); the annular groove (101) and the stator (2) enclose to form a flow channel.

3. The driving module with a heat dissipation structure according to claim 2, characterized in that: One or more windshield components (6) are provided at the large diameter section of the cylinder (10). The windshield components (6) extend radially into the annular groove (101) along the shell (1), and gaps are reserved between each other for the circulation of cooling fluid.

4. The driving module with a heat dissipation structure according to claim 3, characterized in that: The large diameter section of the cylinder (10) radially penetrates the windshield hole, and the windshield hole is communicated with the annular groove (101). A windshield column is coaxially inserted into the windshield hole, and the windshield column constitutes a windshield assembly (6).

5. The driving module with a heat dissipation structure according to claim 4, characterized in that: The windshield column is a two-section stepped shaft structure, and is inserted into the windshield hole until the shaft shoulder of the windshield column contacts and fits with the outer wall of the shell (1).

6. The driving module with a heat dissipation structure according to claim 1, characterized in that: The large diameter section of the cylinder (10) radially penetrates at least one inlet hole (100) and at least one outlet hole (102), and both the inlet hole (100) and the outlet hole (102) are communicated with the annular groove (101). The inlet hole (100) is connected to a cooling source via a first joint (103), and the outlet hole (102) discharges cooling fluid via a second joint (104). The outlet hole (102) and the second joint (104) together constitute an outlet.

7. The driving module with a heat dissipation structure according to claim 6, characterized in that: The inlet hole (100) and the outlet hole (102) are symmetrically arranged along the axis of the shell (1).

8. The driving module with a heat dissipation structure according to claim 1, characterized in that: The rotor assembly comprises a bearing (30), a first mounting frame (31) and a rotor body (32); the rotor body (32) is coaxially arranged in the stator (2); the rotor body (32) is mounted on the first end cover (11) through the first mounting frame (31); and the bearing (30) is arranged between the first end cover (11) and the first mounting frame (31).

9. The driving module with a heat dissipation structure according to claim 1, characterized in that: The housing (1) further comprises a second end cover (12), the second end cover (12) being connected to the needle tooth seat (40), a cycloid wheel (41) being sleeved in the needle tooth seat (40), an eccentric shaft (42) being arranged in the cycloid wheel (41), one end of the eccentric shaft (42) being connected to the first mounting frame (31) via a spline (420), and the other end of the eccentric shaft (42) being connected to an output disc (43), the output disc (43) being sleeved in the needle tooth seat (40), and the needle tooth seat (40), the cycloid wheel (41), the eccentric shaft (42) and the output disc (43) together forming a reducer assembly.

10. The driving module with a heat dissipation structure according to claim 1, characterized in that: The invention also includes an encoder assembly, which includes a control board (50), a second mounting frame (51), a magnetic ring (52) and a shaft sleeve (53). The first mounting frame (31) is connected to one end of a first screw, and the other end of the first screw passes through the first end cover (11). The first screw is located outside the housing (1) and is sleeved with a shaft sleeve (53). The shaft sleeve (53) is provided with the first mounting frame (31). The magnetic ring (52) is sleeved on the shaft sleeve (53). The second mounting frame (51) is provided on the first end cover (11) on one side of the magnetic ring (52). The control board (50) is provided on the second mounting frame (51).

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