A bearing, an end cover, a machine shell, a motor, a detection method of the motor and a robot

Abstract

This invention provides a bearing, end cap, housing, motor, a method for testing the motor, and a robot. The bearing includes an outer ring and an inner ring. The outer circumferential surface of the outer ring is provided with a groove surrounding the outer ring. The bottom surface of the groove includes a first bottom surface and a second bottom surface. The radius of the second bottom surface is larger than the radius of the first bottom surface. The center of the first bottom surface coincides with the center of the outer ring. The annular space surrounding the first bottom surface is used to accommodate a sealing ring, which can improve the sealing performance of the motor and prevent external grease from entering the motor through the gap between the outer ring and the bearing hole.

Description

Technical Field

[0001] This invention belongs to the field of motor technology, specifically relating to a bearing, end cover, housing, motor, a method for testing the motor, and a robot. Background Technology

[0002] In recent years, with the continuous development of industries such as industrial robots and non-standard automated equipment, the servo motor market has maintained a steady growth trend, and its application areas are becoming increasingly widespread. The special operating environment of servo motors requires high protection performance from the motor body, which necessitates high-performance sealing structures and corresponding sealing elements between various parts of the motor body. For example... Figure 12 As shown, the current servo motor and reducer are sealed by an oil seal assembled on the motor body. However, due to the iron filings generated during the operation of the reducer, the iron filings can damage the lip of the oil seal, causing the oil seal to fail. External oil can also enter the motor through the gap between the outer ring of the bearing and the bearing hole at the output shaft of the motor.

[0003] Improving the sealing performance of motors is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This invention provides a method and robot for testing bearings, end caps, housings, motors, and motors, which can improve the sealing performance of motors and prevent external grease from entering the motor through the gap between the outer ring of the bearing and the bearing hole.

[0005] In a first aspect, the present invention provides a bearing, the bearing including an outer ring and an inner ring, wherein the outer peripheral surface of the outer ring is provided with a groove surrounding the outer ring, the bottom surface of the groove includes a first bottom surface and a second bottom surface, the radius of the second bottom surface is greater than the radius of the first bottom surface, the center of the first bottom surface coincides with the center of the outer ring, and the annular space surrounding the first bottom surface is used to accommodate a sealing ring.

[0006] Secondly, the present invention provides an end cap for use in the housing of an electric motor. The end cap is provided with a shaft hole, and a bearing as described in claim 1 is disposed in the shaft hole. The end cap includes an inner side facing the inner cavity of the housing and an outer side facing away from the inner cavity. A first bottom surface is close to the inner side surface, a second bottom surface is close to the outer side surface, and a sealing ring is disposed around the first bottom surface.

[0007] In some embodiments, the end cap is provided with an oil extraction hole, the first end of which leads to the groove, and the second end of which leads to the outer surface of the end cap.

[0008] In some embodiments, in the radial direction of the shaft hole, the first end of the oil extraction hole is opposite to the second bottom surface, and the sealing ring is sealed and fitted to the inner wall surface of the shaft hole.

[0009] In some embodiments, a sealing plug is provided at the second end of the oil extraction hole, and the sealing plug is provided with a transparent observation portion.

[0010] In some embodiments, the oil extraction hole includes a first segment communicating with the first end and a second segment communicating with the second end, the first segment and the second segment being directly connected, the first segment extending along the radial direction of the shaft hole, and the second segment extending along the axial direction of the shaft hole; the length of the first segment is not greater than 2 mm;

[0011] or,

[0012] The oil extraction hole is a straight line, and the centerline of the oil extraction hole forms an acute angle with the centerline of the shaft hole.

[0013] Thirdly, the present invention provides a housing comprising an annular housing and the end cap.

[0014] Fourthly, the present invention provides an electric motor, including a rotor and a housing, wherein the rotor is disposed within the housing and a wireless temperature sensor is disposed on the rotor.

[0015] Fifthly, the present invention provides a method for detecting an electric motor, the method comprising:

[0016] Determine whether grease has entered the motor based on the rotor temperature and / or the magnitude of the temperature rise.

[0017] In some embodiments, the magnetic properties of the magnets can be determined based on the temperature of the rotor and / or the magnitude of the temperature rise.

[0018] In a sixth aspect, the present invention also provides a robot including the aforementioned motor.

[0019] The bearing of this invention has a groove on its outer ring. The bottom surface of the groove includes two surfaces: a first bottom surface and a second bottom surface. The radius of the second bottom surface is larger than that of the first bottom surface. A sealing ring is installed on the outer surface of the first bottom surface. Thus, when the bearing is applied to the end cover of a motor, the sealing ring acts as an oil seal, blocking external grease and improving the motor's sealing effect. The space corresponding to the second bottom surface can temporarily store grease, preventing grease from flowing out of the motor and causing environmental pollution. The motor of this application has strong sealing performance, which can improve the motor's service life and thus reduce the motor's operating cost. The motor of this application has energy-saving and consumption-reducing technical effects. It belongs to the field of strategic emerging industries. Attached Figure Description

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a motor according to an embodiment of the present invention;

[0022] Figure 2 This is an embodiment of the present invention. Figure 1 Enlarged view of point A in the middle;

[0023] Figure 3 This is a schematic diagram of a motor end cap with a linear oil extraction hole according to an embodiment of the present invention.

[0024] Figure 4 This is an embodiment of the present invention. Figure 3 Enlarged view at point B in the middle;

[0025] Figure 5 This is an axial schematic diagram of the bearing according to an embodiment of the present invention;

[0026] Figure 6 This is an embodiment of the present invention. Figure 5 The left view;

[0027] Figure 7 This is an embodiment of the present invention. Figure 6 Enlarged view at point C;

[0028] Figure 8 This is a radial half-section schematic diagram of the sealing plug according to an embodiment of the present invention;

[0029] Figure 9 This is an embodiment of the present invention. Figure 8 Top view;

[0030] Figure 10 This is an axial schematic diagram of the rotor according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the motor and reducer connected together according to an embodiment of the present invention;

[0032] Figure 12 This is a schematic diagram of an existing motor.

[0033] The attached figures are labeled as follows:

[0034] 1. Bearing; 101. Inner ring; 102. Outer ring; 103. Groove; 1031. First bottom surface; 1032. Second bottom surface; 1033. Connecting surface; 2. Sealing ring; 3. End cover; 301. Shaft hole; 302. Oil extraction hole; 303. Sealing plug; 3031. Observation section; 4. Rotor; 401. Slot; 5. Reducer. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0037] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0038] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0039] To prevent external oil contaminants from entering the motor through the gap between the outer ring of the bearing and the bearing bore at the motor's output shaft, this application provides a bearing, see reference [link to relevant documentation]. Figure 1-11 As shown, the bearing 1 includes an outer ring 102 and an inner ring 101. The outer circumferential surface of the outer ring 102 is provided with a groove 103 surrounding the outer ring 102. The bottom surface of the groove 103 includes a first bottom surface 1031 and a second bottom surface 1032. The radius of the second bottom surface 1032 is larger than the radius of the first bottom surface 1031. The center of the first bottom surface 1031 coincides with the center of the outer ring 102. The annular space surrounding the first bottom surface 1031 is used to accommodate the sealing ring 2.

[0040] A groove 103 is provided on the outer circumferential surface of the outer ring 102 of the bearing 1. The groove 103 includes two annular bottom surfaces. The radius of the second bottom surface 1032 is larger than the radius of the first bottom surface 1031. A sealing ring 2, such as an O-ring, is provided around the first bottom surface 1031. In this way, on the one hand, the connecting surface 1033 between the second bottom surface 1032 and the first bottom surface 1031 forms an axial (axial direction of the bearing 1, which is also the axial direction of the shaft hole 301 mentioned later) limit for the sealing ring 2; on the other hand, the space on the radial (radial direction of the bearing 1) outer side of the second bottom surface 1032 (this space is also part of the groove 103) can be used to store grease, impurities, etc. The first bottom surface 1031 and the second bottom surface 1032 are located within the same groove 103. Grease entering the groove 103 can not only be stored in the outer space of the second groove 103, but also enter the outer space of the first bottom surface 1031 to contact the sealing ring 2, forming an oil film to protect the sealing ring 2 and improve its service life. Furthermore, it can fill the tiny gaps between the sealing ring 2 and other structures, thereby improving the sealing performance. Of course, the material of the sealing ring 2 needs to be compatible with the grease entering the groove 103, and should not be corroded by the grease, nor should its quality be reduced due to contact with the grease.

[0041] Furthermore, the connecting surface 1033 is perpendicular to the axis of the outer ring 102 of the bearing 1.

[0042] This bearing 1 can be used in scenarios with high sealing requirements; it can also be used in scenarios with low sealing requirements, or even scenarios where sealing is not required, where the sealing ring 2 does not need to be provided in the groove 103. The bearing 1 of this application has strong applicability.

[0043] The present invention provides an end cap 3, such as Figures 1-4As shown, the end cover 3 is provided with a shaft hole 301, and a bearing 1 as described in claim 1 is provided in the shaft hole 301; the end cover 3 includes an inner side facing the inner cavity of the housing and an outer side facing away from the inner cavity, a first bottom surface 1031 is close to the inner side, a second bottom surface 1032 is close to the outer side, and a sealing ring 2 is provided around the first bottom surface 1031.

[0044] By setting the bearing 1 of this application inside the end cover 3, when the end cover 3 is applied to the motor housing, a sealing ring 2 is provided in the groove 103, and the second bottom surface 1032 is closer to the outer side. In this way, when the grease outside the motor leaks into the motor through the gap between the outer ring 102 and the shaft hole 301, it will not enter the motor through the sealing ring 2, but will be blocked by the sealing ring and stored in the groove 103 (the part of the space corresponding to the second bottom surface 1032). Thus, the sealing performance of the motor is improved.

[0045] Preferred, such as Figure 1 and Figure 2 As shown, the end cap 3 is provided with an oil extraction hole 302. The first end of the oil extraction hole 302 leads to the groove 103, and the second end of the oil extraction hole 302 leads to the outer side of the end cap 3.

[0046] By setting the oil extraction hole 302, when there is a large amount of grease stored in the groove 103, the grease can be extracted through the oil extraction hole 302.

[0047] Preferred, such as Figure 3 and Figure 4 As shown, in the radial direction of the shaft hole 301, the first end of the oil extraction hole 302 is opposite to the second bottom surface 1032, and the sealing ring 2 is sealed and fitted to the inner wall surface of the shaft hole 301.

[0048] With the above configuration, the first end of the oil extraction hole 302 does not affect the sealing fit between the sealing ring 2 and the inner wall surface of the shaft hole 301. At the same time, the first end of the oil extraction hole 302 is opposite to the second bottom surface 1032, enabling the oil extraction process to be completed. In this way, the sealing effect of the sealing ring 2 is guaranteed, and the grease in the groove 103 can be extracted.

[0049] Preferred, such as Figure 1 and Figure 3 , Figure 8 and Figure 9 As shown, the feature is that a sealing plug 303 is provided at the second end of the oil extraction hole 302, and the sealing plug 303 is provided with a transparent observation part 3031.

[0050] By setting a sealing plug 303, external impurities are prevented from entering the groove 103 through the oil extraction hole 302. When oil extraction is needed, the sealing plug 303 can be opened. The sealing plug 303 is equipped with a transparent observation part 3031, which allows for a more intuitive view of the grease condition in the groove 103 and the oil extraction hole 302, facilitating timely extraction of grease from the groove 103.

[0051] Preferred, such as Figures 1-4 As shown, the oil extraction hole 302 includes a first section communicating with the first end and a second section communicating with the second end. The first section and the second section are directly connected. The first section extends along the radial direction of the shaft hole 301, and the second section extends along the axial direction of the shaft hole 301. The length of the first section is not greater than 2 mm.

[0052] or,

[0053] The oil extraction hole 302 is a straight line, and the center line of the oil extraction hole 302 forms an acute angle with the center line of the shaft hole 301.

[0054] The first embodiment, as Figure 1 and Figure 2 As shown, the oil extraction hole 302 is L-shaped. By setting the oil extraction hole 302 as a two-section type, it is easy to process. In addition, since the length of the first section is no more than 2mm, it is easy for manual observation and extraction of grease from the second section.

[0055] The second embodiment, as follows Figure 3 and Figure 4 As shown, the oil extraction hole 302 is in the shape of a straight line, which makes it easier to see the oil condition inside the structure and facilitates the compact extraction of oil.

[0056] The present invention provides a housing, such as Figures 1-4 , Figure 11 As shown, it includes an annular shell and the end cap 3.

[0057] The stator is installed on the inner wall of the annular housing, and the rotor 4 passes through the stator. The housing of this application has better sealing performance, and the stator and rotor 4 located inside the housing are less likely to be contaminated by grease.

[0058] The present invention provides an electric motor, including a rotor 4 and a housing, wherein the rotor 4 is disposed inside the housing and a wireless temperature sensor is disposed on the rotor 4.

[0059] The motor described in this application has excellent casing sealing, ensuring smooth motor operation and preventing external oil contaminants from entering the motor's interior. This extends the motor's lifespan, reduces energy consumption and costs, and makes it suitable for oily environments. The motor's versatility and market competitiveness are strong. This energy-saving and consumption-reducing motor belongs to the strategic emerging industries.

[0060] Furthermore, the motor is a servo motor.

[0061] The bearing 1 in this application functions as both a traditional bearing 1 and an oil seal within the motor, thereby improving the motor's sealing performance.

[0062] Furthermore, such as Figure 11 As shown, the motor and the reducer 5 are assembled together.

[0063] Through the transparent observation section 3031 (the observation window of the circular oil level indicator), it can be visually confirmed whether any grease leaked during the operation of the reducer 5 has entered the O-ring installation area of ​​the new bearing 1, and whether there is too much grease at the O-ring. When there is too much grease at the O-ring, the grease can be extracted through the extraction hole. When the grease is harmful to the O-ring, extracting the grease can protect the O-ring and extend the service life of the new bearing 1. When the grease is harmless to the O-ring, extracting the grease can prevent excessive accumulation of grease, which would cause grease to overflow onto the outside of the motor. If the motor is used in a cleanroom environment, grease overflow onto the outside will adversely affect the production environment.

[0064] The present invention provides a detection method for the motor, the detection method comprising:

[0065] Based on the temperature and / or temperature rise of rotor 4, determine whether grease has entered the motor.

[0066] When external grease enters the motor, it reduces the motor's internal heat dissipation efficiency, leading to an overall increase in the motor's internal temperature. The stator and housing of the motor are tightly fitted, resulting in good heat dissipation. This application measures the temperature of the rotor 4, allowing for better monitoring of internal temperature changes. Grease entering the motor can contaminate the internal windings, reducing their insulation and potentially causing localized short circuits, abnormal eddy current losses, and consequently, abnormal temperature increases in the stator and rotor 4. By detecting the temperature and temperature rise of the rotor 4, it is possible to effectively and promptly determine whether grease has entered the motor, improving the motor's operational safety. When grease enters the motor, it immediately reduces the heat dissipation efficiency of the existing cooling structure, causing rapid temperature changes. However, the corrosion of the windings by grease requires a certain amount of time. By assessing the internal temperature and temperature rise, it is possible to promptly determine whether grease has entered the motor, preventing further damage, improving the motor's operational safety and stability, and extending its service life.

[0067] Furthermore, an external signal receiver is installed on the motor to receive temperature data acquired by the wireless temperature sensor. The external signal receiver processes the signals transmitted by the sensor through its circuitry.

[0068] Preferably, based on the temperature of rotor 4 and / or the magnitude of temperature rise, it can also be determined whether the magnet is qualified.

[0069] When the motor's magnets are demagnetized or of substandard quality, a larger current is often required to ensure stable motor output power. The electromagnetic effect of this larger current on rotor 4 causes the rotor 4 temperature to rise and / or increase. Based on the temperature changes of rotor 4, it is possible to accurately determine whether the motor's magnets are demagnetized or of substandard quality. Demagnetization or substandard quality indicates that the magnets' magnetic properties are substandard.

[0070] Currently, it is difficult to measure the temperature rise at the rotor's four magnets during servo motor temperature rise testing. Consequently, when motor performance tests (temperature rise, low back EMF, etc.) fail, it is difficult to determine whether the cause is a defective rotor magnet or excessively high temperature at the rotor magnets during temperature rise testing leading to magnet demagnetization. This results in difficulties in improving motor performance tests. This application addresses this issue by placing a wireless temperature sensor in the slot 401 of the rotor's four iron core to measure the temperature rise at the rotor's four iron core and then inferring the temperature rise at the rotor's four magnets. When the motor exhibits abnormal performance, the inferred temperature rise at the magnets can be used to analyze whether the cause is magnet demagnetization due to high temperature.

[0071] The present invention provides a robot, including the aforementioned motor.

[0072] The beneficial effects of this application are:

[0073] The structure of bearing 1 is redesigned, and groove 103 is added to the original bearing 1 structure to accommodate the O-ring (see...). Figures 1-4 This invention prevents grease leaking from the reducer 5 during operation from entering the motor. The new bearing 1 structure not only functions as a bearing but also as an oil seal, reducing damage from metal shavings to the bearing 1, which acts as an oil seal, improving the sealing performance at the assembly point between the motor body and the reducer 5, and enhancing the motor's market competitiveness. The groove 103 can also temporarily store grease, preventing it from flowing everywhere.

[0074] This invention uses a new bearing 1 structure and provides an oil extraction hole 302 and a sealing plug 303 (circular oil level indicator) on the end cover 3. When grease leaks out during the operation of the reducer 5, it enters the motor through the gap between the shaft and the end cover 3 (the gap when the oil seal is damaged). The O-ring at the bearing 1 prevents the grease from further entering the motor, allowing the grease to be stored on the side away from the motor interior. The amount of grease can be observed through the circular oil level indicator window. When there is too much grease, the circular oil level indicator can be unscrewed and the grease can be extracted through the grease extraction channel to protect the sealing O-ring (see...). Figures 1-4 This not only improves the service life of the new structure bearing 1, but also further improves the service life of the motor.

[0075] This invention employs a novel method for testing the temperature rise of the magnet. Since the thermocouple wires at the magnet of the motor rotor (4) are difficult to arrange, the temperature rise of the magnet is difficult to measure. This invention uses a new method to measure the temperature rise at the rotor core (4), which approximates the magnet temperature rise. A new slot (401) is added to the rotor core (4) to house a temperature sensor. The temperature sensor transmits the temperature rise signal to an external signal receiving device. The external signal receiving device processes the signal transmitted from the sensor through its internal circuitry to determine the temperature rise at the rotor core (see...). Figure 2 , Figure 4 , Figure 9 and Figure 10 This invention helps to analyze the causes of abnormalities such as excessive temperature rise and reduced back electromotive force in motors. The temperature rise at the magnet, which is theoretically evaluated, can determine whether the cause is demagnetization of the high-temperature magnet or defective magnet.

[0076] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A bearing, the bearing (1) comprising an outer ring (102) and an inner ring (101), wherein the outer peripheral surface of the outer ring (102) is provided with a groove (103) surrounding the outer ring (102), characterized in that, The bottom surface of the groove (103) includes a first bottom surface (1031) and a second bottom surface (1032). The radius of the second bottom surface (1032) is greater than the radius of the first bottom surface (1031). The center of the first bottom surface (1031) coincides with the center of the outer ring (102). The annular space surrounding the first bottom surface (1031) is used to accommodate the sealing ring (2).

2. An end cap, applied to the housing of a motor, wherein the end cap (3) is provided with a shaft hole (301), characterized in that, The bearing (1) as described in claim 1 is provided in the shaft hole (301); the end cover (3) includes an inner side facing the inner cavity of the housing and an outer side facing away from the inner cavity, the first bottom surface (1031) is close to the inner side, the second bottom surface (1032) is close to the outer side, and a sealing ring (2) is provided around the first bottom surface (1031).

3. The end cap according to claim 2, characterized in that, The end cap (3) is provided with an oil extraction hole (302), the first end of the oil extraction hole (302) is connected to the groove (103), and the second end of the oil extraction hole (302) is connected to the outer side of the end cap (3).

4. The end cap according to claim 3, characterized in that, In the radial direction of the shaft hole (301), the first end of the oil extraction hole (302) is opposite to the second bottom surface (1032), and the sealing ring (2) is sealed and fitted to the inner wall surface of the shaft hole (301).

5. The end cap according to claim 4, characterized in that, A sealing plug (303) is provided at the second end of the oil extraction hole (302), and the sealing plug (303) is provided with a transparent observation part (3031).

6. The end cap according to claim 5, characterized in that, The oil extraction hole (302) includes a first section communicating with the first end and a second section communicating with the second end. The first section and the second section are directly connected. The first section extends along the radial direction of the shaft hole (301), and the second section extends along the axial direction of the shaft hole (301). The length of the first section is not greater than 2 mm. or, The oil extraction hole (302) is a straight line, and the center line of the oil extraction hole (302) forms an acute angle with the center line of the shaft hole (301).

7. A housing, characterized in that, It includes an annular shell and an end cap (3) as described in any one of claims 2-6.

8. An electric motor, characterized in that, It includes a rotor (4) and a housing as described in claim 7, wherein the rotor (4) is disposed within the housing and a wireless temperature sensor is disposed on the rotor (4).

9. A method for detecting the motor according to claim 8, characterized in that, The detection method includes: Based on the temperature and / or temperature rise of the rotor (4), determine whether grease has entered the motor.

10. The method for detecting an electric motor according to claim 9, characterized in that, Based on the temperature of the rotor (4) and / or the magnitude of the temperature rise, it is also possible to determine whether the magnet is qualified.

11. A robot, characterized in that, Includes the motor as described in claim 8.

Images