Axial motor joint module and robot

Abstract

The invention relates to the technical field of robots and peripheral supporting facilities thereof, and discloses an axial motor joint module which comprises a shell, a motor unit, a speed reducer unit and a heat dissipation unit, the motor unit and the speed reducer unit are arranged in the shell, and the heat dissipation unit comprises a vapor chamber and a fan mechanism. Wherein the vapor chamber is arranged between the axial end face of the stator core and the inner wall of the shell. According to the axial motor joint module, the vapor chamber is arranged between the axial end face of the stator iron core and the inner wall of the shell, an efficient heat transfer path from the stator iron core and the armature winding to the shell is established, and most of heat generated in the operation process of the motor unit is quickly transferred to the shell through the vapor chamber; meanwhile, the fan mechanism is arranged outside the shell of the heat dissipation unit, heat transferred to the shell is dissipated through operation of the fan mechanism, and therefore rapid heat dissipation of the whole machine is achieved. The invention further provides a robot which comprises the axial motor joint module.

Description

Technical Field

[0001] The present invention relates to the technical field of robots and peripheral supporting facilities thereof, and in particular to an axial motor joint module and a robot. Background Art

[0002] In the field of robotics, due to the constraints of limited installation space, flat motors, represented by axial flux permanent magnet synchronous motors, have become a research hotspot. With their disc-like structure featuring short axial length and large radial dimensions, these motors effectively reduce space usage and meet the requirements for compact robot joint design. However, issues such as heat accumulation during motor operation, limited output torque, excessive weight, and the separate installation of the reduction system have severely restricted the performance improvement of motor modules. Therefore, solving the problem of motor heat dissipation, increasing the maximum output torque, achieving lightweight design, and promoting the integrated design of the reducer and motor are the keys to improving the torque density of motor modules, while also considering improving motor efficiency and operational reliability.

[0003] High-efficiency cooling technology is the core to ensure the stable operation of the motor. When the motor is running at high load, the winding copper loss, the core hysteresis loss, etc. will generate a lot of heat. If it cannot be dissipated in time, the motor temperature will rise too high, which will cause faults such as magnetic steel demagnetization and insulation aging, shortening the service life of the motor. To this end, an enhanced motor heat dissipation solution is proposed: by introducing high thermal conductivity heat transfer devices such as aluminum sheets or flat heat pipes, additional heat conduction paths are constructed to quickly transfer the heat inside the motor to the surface; combined with a powerful fan installed on the outside of the casing, a forced air cooling heat dissipation channel is formed to accelerate air convection and take away heat. Starting from both conduction and convection, this solution provides a new solution for improving the efficiency of the cooling system of the axial flux permanent magnet synchronous motor joint module.

[0004] Existing reduction motors often feature an external reducer design, with the reducer installed at the motor's external output terminal. While this traditional installation method achieves deceleration and torque amplification, it significantly increases the size and weight of the entire transmission system, leading to a cumbersome motor module structure and hindering the robot's flexible layout and motion control. The trend toward lightweight and integrated designs requires the exploration of new motor and reducer solutions to further reduce size and weight, thereby improving the robot's overall performance and efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide an axial motor joint module and a robot to solve the problems existing in the above-mentioned related technologies, enhance the heat dissipation effect of the high torque density motor used in the robot, and at the same time improve the integration level of the motor reducer, providing strong guarantees for the robot's structural layout and motion control.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an axial motor joint module, comprising:

[0008] a housing, wherein a module shaft is disposed in the housing;

[0009] A motor unit, the motor unit being disposed within the housing and comprising a stator core, an armature winding, a rotor core, and a permanent magnet. The stator core is connected to the housing, the armature winding is embedded in a groove of the stator core, the rotor core is connected to the module shaft, and the permanent magnet is disposed on the rotor core. The rotor core and the stator core are coaxially disposed, and an air gap is provided between the stator core and the permanent magnet to generate electromagnetic torque.

[0010] A reducer unit, the reducer unit being disposed in the housing, the reducer unit and the motor being arranged along the axis of the module shaft, the reducer unit including an output element, the module shaft being transmission-connected to the output element;

[0011] The heat dissipation unit includes a heat spreader and a fan mechanism. The heat spreader is arranged between the axial end surface of the stator core and the inner wall of the shell. The fan mechanism is connected to the shell.

[0012] Preferably, the heat spreader has an evaporation end and a condensation end, the evaporation end is bonded to the back yoke of the stator core, the condensation end is located inside the shell, and the gap between the condensation end and the bottom wall of the shell is filled with interface thermal conductive material.

[0013] Preferably, the cavity between the stator core and the inner side wall of the housing is filled with high thermal conductivity epoxy resin to form a heat transfer structural layer.

[0014] Preferably, the reducer unit also includes a sun gear, a planetary carrier, a planetary shaft, a planetary gear and an outer ring gear, the sun gear is arranged on the module shaft and the two are coaxially arranged, the planetary carrier is located at the top of the output element and the two are connected, one end of the planetary shaft is fixedly connected to the planetary carrier, and the other end of the planetary shaft is fixedly connected to the output element, the planetary gear is rotatably sleeved on the outside of the planetary shaft and a rotating shaft sleeve is provided between the two, the number of the planetary gears is multiple groups, the planetary gears are arranged around the axis of the module shaft, the outer ring gear is connected to the inner wall of the housing and sleeved on the outside of the planetary gear and the planetary carrier, and the planetary gears are respectively meshed with the outer ring gear and the sun gear.

[0015] Preferably, the reducer unit also includes a first bearing, a second bearing, a third bearing and a fourth bearing, the first bearing is arranged between the module shaft and the housing, the second bearing is arranged between the module shaft and the planetary carrier, the third bearing is arranged between the outer wall of the module shaft and the inner wall of the output element, and the fourth bearing is arranged between the output element and the housing.

[0016] Preferably, the shell is a split structure, and the shell includes an end cover and a casing. The end cover is located at the top of the casing and the two are detachably connected. The motor unit and the reducer unit are located in the space enclosed by the end cover and the casing. The fan mechanism is connected to the casing and is located at the bottom of the casing.

[0017] Preferably, the axial motor joint module also includes a magnetic encoder, which includes a PCB board, a magnetic ring bracket, a rotor magnetic ring and a pressure sleeve. The PCB board is fixedly connected to the upper end surface of the end cover, the magnetic ring bracket is sleeved on the module rotating shaft and the module rotating shaft can drive the magnetic ring bracket to rotate, the rotor magnetic ring is connected to the magnetic ring bracket, the pressure sleeve is connected to the module rotating shaft and fixes the axial position of the magnetic ring bracket so that a certain distance is maintained between the magnetic ring bracket and the PCB board, and a Hall sensor is provided on the PCB board to measure the changes in the magnetic field of the rotor magnetic ring.

[0018] Preferably, the module shaft has a transmission plane, the transmission plane is parallel to the axis of the module shaft, and the inner wall of the magnetic ring bracket has a plane matching the transmission plane and abutting against the transmission plane, so that the module shaft can drive the magnetic ring bracket to rotate;

[0019] The rotor magnetic ring is bonded to the magnetic ring bracket.

[0020] Preferably, the fan mechanism includes a fan cover and blades arranged in the fan cover, the fan cover is connected to the housing, the blades are rotatably arranged in the fan cover, and the blades can be connected to an external driving source;

[0021] The fan cover is a columnar structure. A plurality of air inlets are provided on the side wall of the fan cover. The air inlets are evenly distributed circumferentially around the axis of the fan cover. An air outlet is provided at the bottom of the fan cover.

[0022] The present invention also provides a robot comprising the above-mentioned axial motor joint module.

[0023] Compared with the related art, the present invention has achieved the following technical effects: the axial motor joint module of the present invention includes a shell, a motor unit, a reducer unit and a heat dissipation unit, and a module rotating shaft is arranged in the shell; the motor unit is arranged in the shell, and the motor unit includes a stator core, an armature winding, a rotor core, and a permanent magnet. The stator core is connected to the shell, and the armature winding is embedded in the groove of the stator core. The rotor core is connected to the module rotating shaft, and the permanent magnet is arranged on the rotor core. The rotor core and the stator core are coaxially arranged, and there is an air gap between the stator core and the permanent magnet to generate electromagnetic torque; the reducer unit is arranged in the shell, and the reducer unit and the motor are arranged along the axial direction of the module rotating shaft. The reducer unit includes an output element, and the module rotating shaft is transmission-connected to the output element; the heat dissipation unit includes a heat spreader and a fan mechanism, the heat spreader is arranged between the axial end face of the stator core and the inner wall of the shell, and the fan mechanism is connected to the shell.

[0024] The axial motor joint module of the present invention is provided with a heat spreader between the axial end face of the stator core and the inner wall of the shell, establishing an efficient heat transfer path from the stator core and the armature winding to the shell, and quickly transferring most of the heat generated during the operation of the motor unit to the shell by the heat spreader. At the same time, the heat dissipation unit is provided with a fan mechanism outside the shell, and the heat transferred to the shell is dissipated by the operation of the fan mechanism, thereby realizing rapid heat dissipation of the whole machine. Compared with the permanent magnet motor in the prior art that transfers heat through natural heat dissipation, the axial motor joint module of the present invention increases the conductive heat dissipation coefficient of the stator component in the motor unit, improves the heat transfer efficiency of the stator core and the armature winding, extends the service life of the motor unit, and allows the motor unit to generate a greater torque through a larger current. In addition, the axial motor joint module of the present invention adopts an axial flux permanent magnet motor in the motor unit, which saves the space of the whole machine, thereby realizing the integration of the motor unit and the reducer unit in the shell, optimizing the spatial layout of the axial motor shutdown module, and improving the output capacity of the limit torque.

[0025] The present invention also provides a robot comprising the above-mentioned axial motor joint module. Adopting the axial motor joint module of the present invention is beneficial to reducing the size of the robot, reducing the weight of the robot joint, and improving the overall performance and working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic cross-sectional view of the axial motor joint module disclosed in an embodiment of the present invention;

[0028] Figure 2 An exploded schematic diagram of the axial motor joint module disclosed in an embodiment of the present invention;

[0029] Figure 3 This is a schematic cross-sectional view of the magnetic encoder of the axial motor joint module disclosed in an embodiment of the present invention;

[0030] Figure 4 This is an axonometric diagram of the motor unit of the axial motor joint module disclosed in an embodiment of the present invention;

[0031] Figure 5 This is an axonometric diagram of the stator core of the axial motor joint module disclosed in an embodiment of the present invention;

[0032] Figure 6 This is an axonometric diagram of the rotor portion of the axial motor joint module disclosed in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the internal structure of the reducer unit of the axial motor joint module disclosed in an embodiment of the present invention;

[0034] Figure 8 This is an exploded schematic diagram of the reducer unit of the axial motor joint module disclosed in an embodiment of the present invention;

[0035] Figure 9 This is a structural schematic diagram of the housing of the axial motor joint module disclosed in an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of heat dissipation of the axial motor joint module disclosed in an embodiment of the present invention during operation.

[0037] In the figure: 1. magnetic encoder; 10. pressing sleeve; 11. magnetic ring; 12. magnetic ring bracket; 13. PCB board; 20. end cover; 21. housing; 22. rotating shaft; 23. first bearing; 24. second bearing; 25. third bearing; 26. fourth bearing; 3. motor unit; 30. stator core; 31. armature winding; 32. coil lead; 33. thermocouple lead; 34. rotor core; 35. permanent magnet; 36. air gap; 4. reducer unit; 40. outer ring gear; 41. planetary carrier; 42. planetary gear; 43. rotating shaft sleeve; 44. planetary shaft; 45. output element; 50. heat transfer structure layer; 51. heat sink; 52. fan mechanism; 53. blades; 54. fan lead; 55. fan cover; 56. air inlet; 57. air outlet. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] The purpose of the present invention is to provide an axial motor joint module and a robot to solve the problems existing in the above-mentioned related technologies, enhance the heat dissipation effect of the high torque density motor used in the robot, and at the same time improve the integration level of the motor reducer, providing strong guarantees for the robot's structural layout and motion control.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Example 1

[0042] This embodiment provides an axial motor joint module, please refer to Figures 1-10 , including a housing, a motor unit 3, a reducer unit 4 and a heat dissipation unit, a module shaft 22 is provided in the housing; the motor unit 3 is provided in the housing, the motor unit 3 includes a stator core 30, an armature winding 31, a rotor core 34, and a permanent magnet 35, the stator core 30 is connected to the housing, the armature winding 31 is embedded in the groove of the stator core 30, the rotor core 34 is connected to the module shaft 22, the permanent magnet 35 is provided on the rotor core 34, and the rotor core 34 is connected to the stator core 30. The shaft is set, and there is an air gap 36 between the stator core 30 and the permanent magnet 35 to generate electromagnetic torque; the reducer unit 4 is set in the shell, the reducer unit 4 and the motor are arranged along the axial direction of the module shaft 22, the reducer unit 4 includes an output element 45, and the module shaft 22 is transmission-connected to the output element 45; the heat dissipation unit includes a heat spreader 51 and a fan mechanism 52, the heat spreader 51 is set between the axial end face of the stator core 30 and the inner wall of the shell, and the fan mechanism 52 is connected to the shell.

[0043] The axial motor joint module of the present invention is provided with a heat spreader 51 between the axial end face of the stator core 30 and the inner wall of the shell, establishing an efficient heat transfer path from the stator core 30 with strong heating capacity and the armature winding 31 to the shell with strong heat dissipation capacity, and most of the heat generated during the operation of the motor unit 3 is quickly transferred to the shell by the heat spreader 51. At the same time, the heat dissipation unit is provided with a fan mechanism 52 outside the shell, and the heat transferred to the shell is dissipated by the operation of the fan mechanism 52, thereby achieving rapid heat dissipation of the whole machine. Compared with the permanent magnet motor in the prior art that transfers heat through natural heat dissipation, the axial motor joint module of the present invention increases the conductive heat dissipation coefficient of the stator core 30 and the armature winding 31 in the motor unit 3, improves the heat transfer efficiency of the stator core 30 and the armature winding 31, extends the service life of the motor unit 3, and allows the motor unit 3 to pass a larger current and generate a larger torque. In addition, in the axial motor joint module of the present invention, the motor unit 3 adopts an axial flux permanent magnet motor, which saves the space of the entire machine, thereby integrating the motor unit 3 and the reducer unit 4 into the shell, optimizing the spatial layout of the axial motor shutdown module and improving the output capacity of the maximum torque.

[0044] Among them, the heat spreader 51 has an evaporation end and a condensation end. The evaporation end is bonded to the back yoke of the stator core 30, and the condensation end is located in the shell. The evaporation end and the condensation end are connected to form a steam chamber. The steam chamber is provided with a low-boiling-point, volatile liquid working medium. A cavity area is provided in the center of the evaporation end, and a liquid absorption core is provided in the circumferential direction of the cavity area for supporting the condensation end. The liquid absorption core is a porous structure. When heat is transmitted from the heat source (the stator core 30 and the armature winding 31) through the evaporation end of the heat spreader 51, the working medium liquid boils and vaporizes in the low vacuum cavity. Under the action of the pressure difference, the gas flows to the condensation end, condenses and releases heat when it is cold, and flows back to the evaporation end along the liquid absorption core under the action of capillary force. The heat at the condensation end is taken away by other heat dissipation methods outside the heat spreader 51 (heat exchange between the shell and the external environment), thereby realizing heat transfer. It should also be noted that the present invention fills the gap between the condensation end of the heat spreader 51 and the inner bottom wall of the shell with interface thermal conductive material to increase the effective contact area between the heat spreader 51 and the shell, improve the heat transfer efficiency, and further enhance the heat dissipation performance of the axial motor joint module.

[0045] Specifically, the cavity between the stator core 30 and the inner wall of the housing is filled with a high thermal conductivity epoxy resin to form a heat transfer structural layer 50. While using the heat spreader 51 to transfer heat, the present invention also fills the cavity between the stator core 30 and the inner wall of the housing with a high thermal conductivity epoxy resin to form a heat transfer structural layer 50, thereby utilizing the heat transfer structural layer 50 made of high thermal conductivity epoxy resin to transfer the heat generated by the stator core 30 and the armature winding 31 to the housing, further achieving rapid heat dissipation, improving the heat dissipation efficiency of the motor unit 3, and improving the working reliability of the heat dissipation unit. In actual applications, in order to monitor the heat dissipation of the motor unit 3, a thermocouple can be built into the motor unit 3. It needs to be explained here that, in this specific embodiment, after the coil lead 32 of the armature winding and the thermocouple lead 33 are led out, the stator core 30, the armature winding 31 and the heat spreader 51 are encapsulated into the interior of the shell with a high thermal conductivity epoxy resin to form a heat transfer structure layer 50, while not affecting the routing of the motor unit 3, thereby ensuring the working reliability of the motor unit 3.

[0046] Specifically, the reducer unit 4 also includes a sun gear, a planet carrier 41, a planetary shaft 44, planetary gears 42, and an outer ring gear 40. The sun gear is coaxially mounted on the module shaft 22. The planetary carrier 41 is located on top of the output element 45 and the two are connected. One end of the planetary shaft 44 is fixedly connected to the planetary carrier 41, and the other end of the planetary shaft 44 is fixedly connected to the output element 45. The planetary gears 42 are rotatably mounted on the outside of the planetary shaft 44, with a rotating shaft sleeve 43 disposed therebetween. There are multiple sets of planetary gears 42, which are arranged around the axis of the module shaft 22. The outer ring gear 40 is connected to the inner wall of the housing and is mounted on the outside of the planetary gears 42 and the planetary carrier 41. The planetary gears 42 mesh with the outer ring gear 40 and the sun gear, respectively. When the motor unit 3 is in operation, the stator core 30, the armature winding 31, the rotor core 34, and the permanent magnets 35 achieve energy conversion through electromagnetic coupling, and the rotor core 34 drives the module shaft 22 to rotate. The power generated by the motor unit 3 is transmitted to the reducer unit 4 through the module shaft 22. The module shaft 22 uses the sun gear to drive the planetary gear 42 to rotate. The sun gear drives the planetary gear 42 to rotate. At the same time, the planetary gear 42 is forced to revolve around the sun gear due to the restriction of the outer ring gear 40, driving the planetary carrier 41 and the output element 45 to rotate. The decelerated power is output by the output element 45, and low-speed and high-torque output is achieved.

[0047] In order to support the various components and fix the relative positions between the various components, the reducer unit 4 also includes a first bearing 23, a second bearing 24, a third bearing 25 and a fourth bearing 26. The first bearing 23 is arranged between the module shaft 22 and the housing to fix the relative position between the axial direction of the module shaft 22 and the housing to ensure the structural stability of the module shaft 22; the second bearing 24 is arranged between the module shaft 22 and the planetary carrier 41, and is located above the sun gear of the module shaft 22 to ensure smooth relative rotation between the module shaft 22 and the planetary carrier 41; the third bearing 25 is arranged between the outer wall of the module shaft 22 and the inner wall of the output element 45 to ensure smooth relative rotation between the module shaft 22 and the output element 45; the fourth bearing 26 is arranged between the output element 45 and the housing to ensure normal rotation and structural stability of the output element 45. It should be explained here that, in this specific embodiment, the output element 45 is an annular structure, which is conducive to saving the space occupied by the axial motor joint module. A flange interface is provided on the output element 45 to facilitate the connection between the output element 45 and other components of the robot.

[0048] In this embodiment, the housing is a split structure, comprising an end cap 20 and a housing 21. The end cap 20 is located on top of the housing 21 and the two are detachably connected, facilitating assembly and disassembly. The motor unit 3 and the reducer unit 4 are located within the space enclosed by the end cap 20 and the housing 21. The fan mechanism 52 is connected to the housing 21 and located at the bottom thereof, allowing the fan mechanism 52 to quickly remove heat transferred to the housing. In practical applications, the end cap 20 and the housing 21 can be bolted together for a secure connection and convenient assembly and disassembly.

[0049] In order to facilitate the monitoring of the working status of the motor unit 3, the axial motor joint module of the present invention also includes a magnetic encoder 1, which includes a PCB board 13, a magnetic ring bracket 12, a rotor magnetic ring 11 and a pressing sleeve 10. The PCB board 13 is fixedly connected to the upper end surface of the end cover 20, the magnetic ring bracket 12 is sleeved on the module rotating shaft 22 and the module rotating shaft 22 can drive the magnetic ring bracket 12 to rotate, the rotor magnetic ring 11 is connected to the magnetic ring bracket 12, the pressing sleeve 10 is connected to the module rotating shaft 22 and fixes the axial position of the magnetic ring bracket 12 so that a certain distance is maintained between the magnetic ring bracket 12 and the PCB board 13, and a Hall sensor is provided on the PCB board 13 to measure the magnetic field changes of the rotor magnetic ring 11. The module shaft 22 drives the magnetic ring bracket 12 and the rotor magnetic ring 11 to rotate. The compression sleeve 10 maintains the axial position of the magnetic ring bracket 12, ensuring a constant air gap between the rotor magnetic ring 11 and the PCB 13. After the Hall sensor detects periodic changes in magnetic field strength or direction, the PCB 13 performs signal processing, converting mechanical motion into electrical signals. The combination of the compression sleeve 10 and the magnetic ring bracket 12 ensures the relative position accuracy of the magnetic ring 11 and the sensor, guaranteeing the reliability of the magnetic encoder 1. The magnetic encoder 1 has a compact structure and strong anti-interference properties, making it suitable for working conditions requiring dynamic position monitoring.

[0050] In order to ensure the smooth rotation of the magnetic ring bracket 12, the module shaft 22 has a transmission plane, which is parallel to the axis of the module shaft 22. The inner wall of the magnetic ring bracket 12 has a plane that matches the transmission plane and is offset from the transmission plane, so that the module shaft 22 can drive the magnetic ring bracket 12 to rotate. The structure is simple and the power transmission is reliable.

[0051] In this embodiment, the rotor magnetic ring 11 is bonded to the magnetic ring bracket 12, making the connection operation convenient. Accordingly, the evaporation end of the heat spreader 51 can also be bonded to the back yoke of the stator core 30, which is simple in structure and reliable in connection.

[0052] More specifically, the fan mechanism 52 includes a fan cover 55 and blades 53 disposed in the fan cover 55. The fan cover 55 is connected to the housing, and the blades 53 are rotatably disposed in the fan cover 55. The rotation of the blades 53 can remove heat from the housing, and the blades 53 can be connected to an external drive source. In this specific embodiment, the fan mechanism 52 is powered by an independent power supply, and the fan mechanism 52 has a fan lead 54 for connecting to an external power supply. Driven by the fan mechanism 52, the external air forms a high-speed airflow, which drives the heat of the housing. Among them, the fan cover 55 is connected to the housing 21 and is located at the bottom of the housing 21. The fan cover 55 and the housing 21 can also be connected by bolts to facilitate disassembly and maintenance.

[0053] The fan cover 55 is a columnar structure, and a plurality of air inlets 56 are provided on the side wall of the fan cover 55. The air inlets 56 are evenly distributed around the axis of the fan cover 55 to improve the uniformity of the air intake. An air outlet 57 is provided at the bottom of the fan cover 55 to ensure the working reliability of the fan mechanism 52.

[0054] The axial motor joint module of the present invention has a cooling structure based on a forced conduction heat dissipation by a heat spreader 51, which establishes an efficient heat transfer path from the stator armature winding 31 with a strong heat generating capacity to the housing 21 with a strong heat dissipation capacity. Most of the heat generated during the operation of the motor unit 3 is quickly transferred to the housing 21 by the heat transfer structure layer 50 formed by the heat spreader 51 and the high thermal conductivity epoxy resin, and then the heat of the entire machine is quickly carried away by the powerful fan mechanism 52 on the outside of the housing 21. Compared with the traditional permanent magnet motor that transfers heat through natural heat dissipation, the conductive heat dissipation coefficient of the stator core 30 and the armature winding 31 of the motor unit 3 is increased, the heat transfer efficiency of the motor stator core 30 and the armature winding 31 is improved, and the service life of the motor is increased while allowing a larger current to pass through the motor to generate a larger torque. In addition, thanks to the flat form of the axial flux permanent magnet motor, the internal space of the housing 21 is fully utilized to optimize the design of the reducer unit 4, thereby improving the output capacity of the maximum torque.

[0055] Example 2

[0056] This embodiment provides a robot, including the axial motor joint module of the first embodiment.

[0057] The use of the axial motor joint module of the present invention is beneficial to reducing the size of the robot, reducing the weight of the robot joints, and improving the overall performance and working efficiency of the robot.

[0058] The robot motor joint module has the characteristics of low speed and high torque. During actual operation, the copper loss of the winding accounts for the majority. The axial motor joint module of the present invention is adopted, and the stator core 30, the armature winding 31 and the heat spreader 51 are encapsulated into the interior of the housing 21 using a high thermal conductivity epoxy resin. This can shorten the heat conduction path and quickly transfer the heat generated by the motor unit 3 to the housing 21. Driven by the fan mechanism 52, the external air forms a high-speed airflow and is output from the air outlet 57. By utilizing the efficient two-dimensional planar thermal conductivity of the heat spreader 51, an efficient heat exchange path is set between the stator core 30 and the external environment. The armature winding 31 is in direct contact with the stator core 30. The heat generated by the stator core 30 and the armature winding 31 can be transferred to the housing 21 through the heat transfer structure layer 50 made of high thermal conductivity epoxy resin. The strong air cooling brought about by the rapid rotation of the blades 53 inside the fan cover 55 quickly dissipates the heat generated by the module, and ultimately extends the service life of the motor unit 3. Therefore, the motor joint module of the robot of the present invention has two serial heat dissipation cooling channels, which greatly improves the heat dissipation efficiency of the motor joint module as a whole.

[0059] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An axial motor joint module, characterized in that: include: a housing, wherein a module shaft (22) is disposed in the housing; A motor unit (3), the motor unit (3) being arranged in the housing, the motor unit (3) comprising a stator core (30), an armature winding (31), a rotor core (34) and a permanent magnet (35), the stator core (30) being connected to the housing, the armature winding (31) being embedded in a groove of the stator core (30), the rotor core (34) being connected to the module shaft (22), the permanent magnet (35) being arranged on the rotor core (34), the rotor core (34) being coaxially arranged with the stator core (30), and an air gap (36) being provided between the stator core (30) and the permanent magnet (35) to generate electromagnetic torque; A reducer unit (4), the reducer unit (4) being arranged in the housing, the reducer unit (4) and the motor being arranged along the axial direction of the module shaft (22), the reducer unit (4) including an output element (45), the module shaft (22) being transmission-connected to the output element (45); A heat dissipation unit comprises a heat spreader (51) and a fan mechanism (52), wherein the heat spreader (51) is arranged between the axial end surface of the stator core (30) and the inner wall of the shell, and the fan mechanism (52) is connected to the shell.

2. The axial motor joint module according to claim 1, characterized in that: The heat spreader (51) has an evaporation end and a condensation end, the evaporation end is bonded to the back yoke of the stator core (30), the condensation end is located in the shell, and the gap between the condensation end and the bottom wall of the shell is filled with an interface heat conducting material.

3. The axial motor joint module according to claim 1, characterized in that: The cavity between the stator core (30) and the inner side wall of the housing is filled with high thermal conductivity epoxy resin to form a heat transfer structural layer (50).

4. The axial motor joint module according to claim 1, characterized in that: The reducer unit (4) further comprises a sun gear, a planet carrier (41), a planet shaft (44), a planet gear (42) and an outer gear ring (40), wherein the sun gear is arranged on the module rotating shaft (22) and the two are coaxially arranged, the planet carrier (41) is located on the top of the output element (45) and the two are connected, one end of the planet shaft (44) is fixedly connected to the planet carrier (41), and the other end of the planet shaft (44) is fixedly connected to the output element (45), The planetary gears (42) are rotatably sleeved on the outside of the planetary shaft (44) and a rotating shaft sleeve (43) is provided between the two. The number of the planetary gears (42) is multiple, and the planetary gears (42) are arranged around the axis of the module shaft (22). The outer gear ring (40) is connected to the inner wall of the shell and sleeved on the outside of the planetary gears (42) and the planetary carrier (41). The planetary gears (42) are respectively engaged with the outer gear ring (40) and the sun gear.

5. The axial motor joint module according to claim 4, characterized in that: The reducer unit (4) further includes a first bearing (23), a second bearing (24), a third bearing (25) and a fourth bearing (26), wherein the first bearing (23) is arranged between the module shaft (22) and the housing, the second bearing (24) is arranged between the module shaft (22) and the planet carrier (41), the third bearing (25) is arranged between the outer wall of the module shaft (22) and the inner wall of the output element (45), and the fourth bearing (26) is arranged between the output element (45) and the housing.

6. The axial motor joint module according to claim 1, characterized in that: The housing is a split structure, comprising an end cover (20) and a casing (21), wherein the end cover (20) is located at the top of the casing (21) and the two are detachably connected, the motor unit (3) and the reducer unit (4) are located in a space enclosed by the end cover (20) and the casing (21), and the fan mechanism (52) is connected to the casing (21) and is located at the bottom of the casing (21).

7. The axial motor joint module according to claim 6, characterized in that: The invention also includes a magnetic encoder (1), wherein the magnetic encoder (1) includes a PCB board (13), a magnetic ring bracket (12), a rotor magnetic ring (11) and a pressing sleeve (10), wherein the PCB board (13) is fixedly connected to the upper end surface of the end cover (20), the magnetic ring bracket (12) is sleeved on the module rotating shaft (22), and the module rotating shaft (22) can drive the magnetic ring bracket (12) to rotate, the rotor magnetic ring (11) is connected to the magnetic ring bracket (12), the pressing sleeve (10) is connected to the module rotating shaft (22) and fixes the axial position of the magnetic ring bracket (12) so that a certain distance is maintained between the magnetic ring bracket (12) and the PCB board (13), and a Hall sensor is provided on the PCB board (13) to measure the change of the magnetic field of the rotor magnetic ring (11).

8. The axial motor joint module according to claim 7, characterized in that: The module shaft (22) has a transmission plane, and the transmission plane is parallel to the axis of the module shaft (22); the inner wall of the magnetic ring bracket (12) has a plane matching the transmission plane and abutting against the transmission plane, so that the module shaft (22) can drive the magnetic ring bracket (12) to rotate; The rotor magnetic ring (11) is bonded to the magnetic ring bracket (12).

9. The axial motor joint module according to any one of claims 1 to 8, characterized in that: The fan mechanism (52) includes a fan cover (55) and blades (53) arranged in the fan cover (55), the fan cover (55) is connected to the housing, the blades (53) are rotatably arranged in the fan cover (55), and the blades (53) can be connected to an external driving source; The fan cover (55) is a columnar structure. A plurality of air inlets (56) are provided on the side wall of the fan cover (55). The air inlets (56) are evenly distributed circumferentially around the axis of the fan cover (55). An air outlet (57) is provided at the bottom of the fan cover (55).

10. A robot, characterized in that: An axial motor joint module comprising the axial motor joint module according to any one of claims 1 to 9.

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