Axial flux motor capable of improving heat dissipation and vibration resistance, driving mechanism and robot

Abstract

The invention discloses an axial magnetic flux motor capable of improving heat dissipation and vibration resistance, a driving mechanism and a robot, and relates to the technical field of robot joint motors. The motor comprises a front end cover and a rear end cover, stator cores are detachably and fixedly installed on the inner side walls of the front end cover and the rear end cover, a plurality of first glue sealing grooves are formed in the sides, close to the front end cover or the rear end cover, of the stator cores, glue inlet grooves are formed in the side walls of the stator cores in the radial direction, and the glue inlet grooves penetrate through the first glue sealing grooves. Through mutual cooperation of the first glue sealing groove, the second glue sealing groove, the glue inlet groove and other structures, filling glue can be filled between the stator iron core and the front end cover and between the stator iron core and the rear end cover, through the design and staggered distribution of the dovetail grooves of the filling glue, the filling glue is fully filled and tightly attached, the heat dissipation efficiency is effectively improved, meanwhile, the vibration resistance is enhanced, and the service life of the motor is prolonged. And the problem of colloid falling caused by vibration is reduced, and a powerful guarantee is provided for stable operation of the motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot joint motor, in particular to an axial flux motor with improved heat dissipation and vibration resistance, a driving mechanism and a robot. BACKGROUND

[0002] The existing joint motors for robots are mostly radial flux motors. Although such motors have simple structure and mature assembly process, the torque density of such motors is not high, resulting in a large volume of the motor. When combined with a reducer, the motor occupies a large space and weight. According to the design concept of modern bionic robots, the output mechanism needs to be small in size, light in weight and large in load capacity. Therefore, the traditional radial flux motor cannot fully meet all joint design requirements.

[0003] The S-R-S type axial flux motor has high torque density and small axial size, and can fully meet the requirements of space structure and output performance for some special joints. However, the S-R-S type axial flux motor with natural cooling has the problem of poor heat dissipation. Generally, the heat of the winding heating components of the motor is transferred to the surrounding environment through solid heat conduction in the form of solid potting glue. However, in the specific implementation process, the potting glue and the heat dissipation component have poor adhesion, resulting in increased air resistance and ineffective heat transfer. In addition, for high vibration and impact application occasions, the potting glue is easy to fall off and break under the vibration and impact force, which shortens the service life of the motor. Therefore, the present application provides an axial flux motor with improved heat dissipation and vibration resistance, a driving mechanism and a robot. SUMMARY

[0004] The present application aims to provide an axial flux motor with improved heat dissipation and vibration resistance, a driving mechanism and a robot to solve the problems in the background art.

[0005] According to the first aspect of the present application, to achieve the above-mentioned purpose, the present application provides the following technical scheme: an axial flux motor with improved heat dissipation and vibration resistance, comprising a front end cover and a rear end cover, the inner side walls of the front end cover and the rear end cover are detachably fixedly installed with a stator core, a plurality of first glue sealing grooves are formed on the side of the stator core close to the front end cover or the rear end cover, and an adhesive groove is formed on the side wall of the stator core along the radial direction, the adhesive groove penetrates through the plurality of first glue sealing grooves. A plurality of second glue sealing grooves are formed on the side of the front end cover and the rear end cover close to the stator core, and the plurality of first glue sealing grooves and the plurality of second glue sealing grooves are staggered in position. The plurality of first glue sealing grooves and the plurality of second glue sealing grooves are filled with potting glue, and the potting glue is solidified between the stator core and the front end cover and the rear end cover, for improving the heat dissipation performance and enhancing the vibration resistance of the motor.

[0006] Further, the first glue sealing groove and the second glue sealing groove are both arranged as annular dovetail grooves.

[0007] Further, the bottom plane of the glue inlet groove is flush with the bottom plane of the first glue sealing groove.

[0008] Further, a through hole is arranged at the center of the front end cover and the rear end cover for mounting a rotating shaft, and the rotating shaft is rotatably connected to the front end cover and the rear end cover through a front bearing and a rear bearing respectively.

[0009] Further, a bearing chamber for mounting the front bearing is arranged on the inner wall of the front end cover, and a bearing chamber for mounting the rear bearing is arranged on the inner wall of the rear end cover, and the inner ring of the front bearing is fixed on the rotating shaft, and the outer ring is fixed on the inner wall of the bearing chamber.

[0010] Further, a rotor iron core is mounted at the middle part of the rotating shaft, and magnetic steel is pasted on both sides of the rotor iron core.

[0011] Further, the number of the stator iron cores is two, and the two stator iron cores are detachably mounted on the front end cover and the rear end cover through bolts.

[0012] Further, the two stator iron cores are oppositely arranged, the rotor iron core is located between the two stator iron cores, and an air gap is arranged between the rotor iron core and the stator iron core.

[0013] According to the second aspect of the present application, the present application provides a robot driving mechanism comprising the axial flux motor with improved heat dissipation and vibration resistance described in the first aspect.

[0014] According to the third aspect of the present application, the present application provides a robot adopting the robot driving structure described in the second aspect.

[0015] The present application has at least the following advantages: Through the cooperation of the first glue sealing groove, the second glue sealing groove, the glue inlet groove and other structures, the present application can fill and pour glue between the stator iron core and the front end cover and the rear end cover, and the design and staggered distribution of the glue pouring and sealing dovetail groove can make the glue filling sufficient and close, effectively improve the heat dissipation efficiency, enhance the anti-vibration performance, reduce the problem of glue shedding caused by vibration, and provide a strong guarantee for the stable operation of the motor.

[0016] Of course, implementing any product of the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 is a cross-sectional view of the overall structure of the present application; Fig. 2 is a three-dimensional view of the first glue sealing groove structure of the present application; Fig. 3 Figure 2 is a perspective view of the second sealing groove structure of the present application.

[0018] Reference signs: 10, front end cover; 11, stator core; 12, magnetic steel; 13, rear end cover; 14, potting glue; 15, rotor core; 16, front bearing; 17, rear bearing; 18, rotating shaft; 21, first sealing groove; 31, second sealing groove; 32, glue inlet groove. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0020] Embodiment one: Please refer to Figs. 1-3 The present application provides a technical solution: an axial flux motor with improved heat dissipation and vibration resistance, comprising a front end cover 10 and a rear end cover 13, and a stator core 11 is detachably and fixedly installed on the inner side wall of the front end cover 10 and the rear end cover 13. A plurality of first sealing grooves 21 are formed on the side of the stator core 11 close to the front end cover 10 or the rear end cover 13, and a glue inlet groove 32 is formed on the side wall of the stator core 11 along the radial direction, and the glue inlet groove 32 penetrates the plurality of first sealing grooves 21. A plurality of second sealing grooves 31 are formed on the side of the front end cover 10 and the rear end cover 13 close to the stator core 11, and the plurality of first sealing grooves 21 and the plurality of second sealing grooves 31 are distributed in turn and staggered. The plurality of first sealing grooves 21 and the plurality of second sealing grooves 31 are filled with potting glue 14, and the potting glue 14 is solidified between the stator core 11 and the front end cover 10 and the rear end cover 13, for improving the heat dissipation performance and enhancing the vibration resistance of the motor.

[0021] For the technical solution of the present embodiment, the first sealing groove 21 and the second sealing groove 31 are both arranged as annular dovetail grooves. The inclined surface structure of the dovetail groove can significantly increase the bonding area of the potting glue 14 and the groove wall, so that the potting glue 14 is difficult to fall off after solidification under vibration, greatly improving the reliability of the motor in a high-vibration environment. On the other hand, the annular dovetail groove layout can effectively disperse the stress caused by vibration, avoid structural damage caused by stress concentration, and at the same time, the dovetail groove shape is conducive to the complete filling of the potting glue 14, and the annular layout can accommodate more potting glue 14, thereby increasing the heat conduction area, reducing the air thermal resistance, and significantly improving the heat dissipation efficiency. Therefore, this design complements each other in improving the vibration resistance reliability and heat dissipation performance, and is mutually beneficial, which provides a strong guarantee for the stable operation of the motor.

[0022] According to the technical scheme of the embodiment, the bottom plane of the glue inlet groove 32 is flush with the bottom plane of the first glue sealing groove 21, the flush bottom surface does not hinder the flow of the potting glue 14, avoids local underfilling or glue aggregation, thereby achieving uniform filling, improving the overall sealing performance and structural stability, and the uniformly filled potting glue 14 can form a consistent heat conduction path, reduce the thermal resistance difference caused by uneven glue thickness, effectively improve the heat dissipation efficiency, ensure that the heat generated by the motor during operation can be quickly conducted and dissipated, and meanwhile, the flush bottom surface helps the potting glue 14 to be closely attached to the groove wall, and after solidification, a firm block structure is formed, thereby improving the anti-vibration performance of the motor, reducing the generation of glue separation or voids caused by vibration, and prolonging the service life of the motor.

[0023] According to the technical scheme of the embodiment, the overall structure of the front end cover 10 and the rear end cover 13 is consistent, and a through hole is formed in the center of each of the front end cover 10 and the rear end cover 13 for mounting the rotating shaft 18, the rotating shaft 18 is rotatably connected to the front end cover 10 and the rear end cover 13 through the front bearing 16 and the rear bearing 17 on both sides of the rotating shaft 18, the front bearing 16 and the rear bearing 17 share the radial force to two points, thereby reducing the wear of a single stress area and prolonging the service life of the rotating shaft 18, and meanwhile, the inner and outer rings of the bearing limit the axial movement of the rotating shaft 18, thereby enhancing the stability of the motor operation.

[0024] According to the technical scheme of the embodiment, a bearing chamber for mounting the front bearing 16 is formed in the inner wall of the front end cover 10, and a bearing chamber for mounting the rear bearing 17 is formed in the inner wall of the rear end cover 13, the inner ring of the front bearing 16 is fixed to the rotating shaft 18, and the outer ring is fixed to the inner wall of the bearing chamber, the regular shape of the bearing chamber facilitates the installation and maintenance of the bearing, and the close fit between the outer ring and the bearing chamber also enhances the axial rigidity, thereby making the motor more reliable in a high-load and high-vibration environment.

[0025] According to the technical scheme of the embodiment, the rotating shaft 18 is mounted with the rotor core 15 in the middle, and the rotor core 15 is pasted with the magnetic steel 12 on both sides, which makes the magnetic field distribution more concentrated and symmetrical, reduces the magnetic resistance, improves the torque density, and enhances the power output of the motor.

[0026] According to the technical scheme of the embodiment, the number of the stator cores 11 is two, and the two stator cores 11 are detachably mounted on the front end cover 10 and the rear end cover 13 through bolts, the symmetrical distribution of the double stator cores 11 can optimize the axial magnetic field stability and symmetry, improve the magnetic field utilization rate, enhance the torque density and operating efficiency of the motor, the detachable design facilitates installation, maintenance and customized modification, reduces maintenance and replacement costs, and prolongs the service life of the motor.

[0027] According to the technical scheme of the embodiment, the two stator cores 11 are oppositely arranged, the rotor core 15 is located between the two stator cores 11, and an air gap is arranged between the rotor core 15 and the stator cores 11. First, the two stator cores 11 are oppositely arranged, and the rotor core 15 is located in the middle. This symmetrical structure can produce uniform magnetic field distribution, optimize the magnetic flux concentration degree, and improve the torque efficiency. Second, the uniform arrangement of the air gap reduces the magnetic resistance, so that the torque fluctuation is smaller during the operation of the motor, and the stability of the motor operation is ensured.

[0028] Embodiment two: According to the second aspect of the application, the application provides a robot driving mechanism comprising the axial flux motor with improved heat dissipation and vibration resistance described in embodiment one.

[0029] Embodiment three: According to the third aspect of the application, the application provides a robot adopting the robot driving structure described in embodiment two.

[0030] It should be noted that the other parts of the axial flux motor with improved heat dissipation and vibration resistance, the robot driving mechanism and the robot provided in the present application can be designed, manufactured and sold separately, or they can be assembled together and then sold as a whole. Whether it is a single unit formed before assembly or a whole formed after assembly, it falls within the protection scope of the present application.

[0031] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0032] For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. When an element is referred to as "assembled", "mounted", "fixed" or "disposed" on another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not the only embodiment.

[0033] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since numerous changes, modifications, substitutions, and alterations can be made thereto without departing from the spirit and scope of the application as defined in the appended claims and their equivalents.

[0034] In the description of the specification, reference to "one embodiment", "an example", "a specific example" or the like means that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the disclosure. The appearances of the above expressions in various places in the specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples.

Claims

1. An axial flux motor with improved heat dissipation and vibration resistance, comprising a front end cover (10) and a rear end cover (13), characterized in that, The inner side wall of the front end cover (10) and the rear end cover (13) is detachably fixedly provided with a stator core (11), a plurality of first sealing glue grooves (21) are formed on the side of the stator core (11) close to the front end cover (10) or the rear end cover (13), and a glue inlet groove (32) is formed on the side wall of the stator core (11) in the radial direction, and the glue inlet groove (32) penetrates the plurality of first sealing glue grooves (21); The side of the front end cover (10) and the rear end cover (13) close to the stator core (11) is provided with a plurality of second sealing glue grooves (31), and the plurality of first sealing glue grooves (21) and the plurality of second sealing glue grooves (31) are staggered in position. The plurality of first sealing glue grooves (21) and the plurality of second sealing glue grooves (31) are filled with potting glue (14), and the potting glue (14) is solidified between the stator core (11) and the front end cover (10) and the rear end cover (13), which is used for improving the heat dissipation performance and enhancing the motor anti-vibration performance.

2. The axial flux motor with improved heat dissipation and vibration resistance according to claim 1, characterized in that: The first sealing glue groove (21) and the second sealing glue groove (31) are both arranged as annular dovetail grooves.

3. The axial flux motor with improved heat dissipation and vibration resistance according to claim 2, characterized in that: The bottom plane of the glue inlet groove (32) is flush with the bottom plane of the first sealing glue groove (21).

4. The axial flux motor with improved heat dissipation and vibration resistance of claim 2, wherein: The center of the front end cover (10) and the rear end cover (13) is provided with a through hole for mounting a rotating shaft (18), and the two sides of the rotating shaft (18) are rotatably connected with the front end cover (10) and the rear end cover (13) through a front bearing (16) and a rear bearing (17).

5. The axial flux motor with improved heat dissipation and vibration resistance according to claim 4, characterized in that: The inner wall of the front end cover (10) is provided with a bearing chamber for mounting the front bearing (16), and the inner wall of the rear end cover (13) is provided with a bearing chamber for mounting the rear bearing (17), and the inner ring of the front bearing (16) is fixed on the rotating shaft (18), and the outer ring is fixed on the inner wall of the bearing chamber.

6. The axial flux motor with improved heat dissipation and vibration resistance according to claim 5, characterized in that: The rotating shaft (18) is provided with a rotor core (15) in the middle, and the two sides of the rotor core (15) are pasted with magnetic steel (12).

7. The axial flux machine with improved heat dissipation and vibration resistance according to claim 6, characterized in that: The number of the stator core (11) is two, and the two stator cores (11) are detachably mounted on the front end cover (10) and the rear end cover (13) through bolts.

8. The axial flux machine with improved heat dissipation and vibration resistance according to claim 7, characterized in that: The two stator cores (11) are oppositely arranged, the rotor core (15) is located between the two stator cores (11), and an air gap is provided between the rotor core (15) and the stator core (11).

9. A robot drive mechanism characterized by, An axial flux motor with improved heat dissipation and vibration resistance is provided.

10. A robot, characterized in that A robot driving structure is provided.

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