Driving motor and robot

Abstract

The application provides a driving motor and a robot. The driving motor comprises a shell, a driving assembly, a motor assembly, a speed reduction assembly and a heat dissipation assembly. The output cover plate of the speed reduction assembly and the heat dissipation cover plate of the heat dissipation assembly are arranged on opposite sides of the shell, and the output cover plate, the heat dissipation cover plate and the shell form a first containing space. The driving assembly, the motor assembly, part of the speed reduction assembly and part of the heat dissipation assembly are arranged in the first containing space. The driving assembly is electrically connected with the motor assembly, and is used for controlling the motor assembly. The motor assembly is drivingly connected with the speed reduction assembly, and the speed reduction assembly is used for outputting driving force. The driving motor provided by the application not only realizes the high integration of the motor assembly, the driving assembly, the speed reduction assembly and the heat dissipation assembly, but also ensures the overall heat dissipation effect of the driving motor. The heat dissipation efficiency is high, the internal temperature of the motor can be effectively reduced, the continuous output capacity of the driving motor is improved, the integration degree and the heat dissipation performance are considered, and thus the practicability and reliability of the driving motor are improved.

Description

Technical Field

[0001] This application belongs to the field of motor technology, specifically relating to drive motors and robots. Background Technology

[0002] In pursuit of high load-to-weight ratios and dynamic response in robots, current robot joint modules tend to highly integrate motors, drivers, reducers, and encoders into a small space. Joint motors are designed for small size, high power, high torque, and high speed, which means that the heat generated per unit volume is very high. However, the main heat sources are the resistive and electromagnetic heating of the motors and the switching losses of the driver's IGBT / MOSFET, and this heat is difficult to dissipate effectively through natural convection and heat conduction. Summary of the Invention

[0003] In view of this, the first aspect of this application provides a drive motor, the drive motor including a housing, a drive component, a motor component, a reduction component, and a heat dissipation component, wherein the output cover plate of the reduction component and the heat dissipation cover plate of the heat dissipation component are disposed on opposite sides of the housing, and the output cover plate, the heat dissipation cover plate, and the housing enclose a first receiving space, wherein the drive component, the motor component, part of the reduction component, and part of the heat dissipation component are disposed within the first receiving space; The drive assembly is electrically connected to the motor assembly, and the drive assembly is used to control the motor assembly. The motor assembly is drive-connected to the reduction assembly, and the reduction assembly is used to output power.

[0004] The motor assembly includes an output shaft, a rotating cover plate, and a stator assembly. The rotating cover plate is sleeved on the output shaft and is used to drive the output shaft to rotate. The stator assembly is arranged around the output shaft in the circumferential direction. Along the axial direction of the drive motor, the reduction assembly, the rotating cover, the stator assembly, and the heat dissipation cover are arranged in sequence, and the drive assembly is positioned close to the heat dissipation cover.

[0005] The outer surface of the heat dissipation cover is provided with a plurality of heat-conducting sheets, and the drive assembly and the stator assembly are both provided with the heat-conducting sheets in the orthographic projection area of ​​the heat dissipation cover.

[0006] The heat dissipation cover includes: The central heat dissipation section is located in the area of ​​the drive component projected onto the heat dissipation cover. A peripheral heat dissipation section is arranged around the central heat dissipation section and is located in the orthogonal projection area of ​​the stator assembly on the heat dissipation cover plate. There is a gap between the peripheral heat dissipation section and the central heat dissipation section.

[0007] The central heat dissipation part has a protrusion on its outer periphery, and the peripheral heat dissipation part has a mating groove extending in the radial direction of the drive motor. The mating groove accommodates at least part of the protrusion. The heat dissipation cover also includes a fixing member, which connects the protrusion to the groove wall of the mating groove.

[0008] The heat dissipation assembly further includes an auxiliary heat dissipation section, which is connected between the output shaft and the stator assembly. The auxiliary heat dissipation section has multiple heat-conducting fins on its surface facing the rotating cover plate.

[0009] The driving component includes: The first encoding gear meshes with the output shaft of the motor assembly; The second encoding gear meshes with the first encoding gear, and the number of teeth on the second encoding gear is not equal to the number of teeth on the first encoding gear; A first encoder is used to acquire the first absolute rotation angle information of the first encoded gear; The second encoder is used to acquire the second absolute rotation angle information of the second encoded gear.

[0010] A second receiving space is formed between the motor assembly and the heat dissipation cover, and the drive assembly is disposed within the second receiving space; The drive assembly also includes a circuit board, and the drive motor also includes an external wiring. The circuit board electrically connects the motor assembly and the external wiring. The circuit board is located near the heat sink cover, and the external wiring passes through the heat sink cover and extends to the outside.

[0011] The deceleration component includes: The first transmission wheel is connected to the output shaft of the motor assembly, and the rotation shaft of the first transmission wheel coincides with the output shaft of the motor assembly; A plurality of second transmission wheels are meshed with the first transmission wheel, and the plurality of second transmission wheels are arranged around the first transmission wheel; Multiple third transmission wheels, one of the third transmission wheels being connected to one of the second transmission wheels, and the rotation axis of one of the third transmission wheels coinciding with the rotation axis of one of the second transmission wheels; The transmission ring has internal teeth on its inner circumferential side, which mesh with the plurality of third transmission wheels, and the transmission ring is connected to the output cover plate. The first transmission wheel, the plurality of second transmission wheels, the plurality of third transmission wheels, and the transmission ring are all disposed within the first receiving space.

[0012] A second aspect of this application provides a robot that includes a drive motor as provided in the first aspect of this application.

[0013] The drive motor and robot provided in this application integrate the drive assembly, motor assembly, some reduction assembly and some heat dissipation assembly into a first receiving space, thereby achieving a highly integrated layout of the motor, driver, reducer and heat dissipation structure, improving the integration of the drive motor, reducing the axial and radial dimensions of the drive motor and increasing the power density; and the first receiving space is enclosed by a heat dissipation cover plate, which directly faces the outside, forming the shortest heat dissipation path, and can use natural convection to achieve heat dissipation, thereby improving the heat dissipation effect of the drive motor.

[0014] In addition, the output cover and heat dissipation cover are located on the two sides respectively, which separates the functions of the power output end and the heat dissipation end, so that they do not interfere with each other, thus improving the rationality and reliability of the drive motor's structural layout.

[0015] Therefore, the drive motor provided in this application has a simple structure, which not only achieves a high degree of integration of motor components, drive components, reduction components and heat dissipation components, but also utilizes the drive motor's own structure to achieve heat dissipation, ensuring the overall heat dissipation effect of the drive motor, with high heat dissipation efficiency, effectively reducing the internal temperature of the motor, reducing heat accumulation, and improving the continuous output capability of the drive motor, thus balancing integration and heat dissipation performance, thereby improving the practicality and reliability of the drive motor. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0017] Figure 1 This is a schematic diagram of the structure of a drive motor provided in one embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the drive motor provided in one embodiment of this application from another perspective.

[0019] Figure 3 This is a cross-sectional schematic diagram of a drive motor provided in one embodiment of this application.

[0020] Figure 4 This is a cross-sectional schematic diagram of a drive motor provided for another embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of a heat dissipation cover provided in one embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the structure of a partial drive motor provided in one embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the deceleration assembly provided in one embodiment of this application.

[0024] Figure 8 This is a schematic diagram of the deceleration assembly provided in one embodiment of this application from another perspective.

[0025] Labeling: Drive motor 1, housing 10, first receiving space 11, second receiving space 12, drive assembly 20, first encoder gear 21, second encoder gear 22, circuit board 23, external wiring 24, motor assembly 30, output shaft 31, rotating cover plate 32, stator assembly 33, reduction assembly 40, output cover plate 41, first transmission wheel 42, second transmission wheel 43, third transmission wheel 44, transmission ring 45, heat dissipation assembly 50, heat dissipation cover plate 51, central heat dissipation part 511, peripheral heat dissipation part 512, protrusion 513, mating groove 514, fixing part 515, heat conducting plate 52, auxiliary heat dissipation part 53. Detailed Implementation

[0026] The following are preferred embodiments of this application. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

[0027] Before introducing the technical solution of this application, let's go over the technical issues in related technologies in detail.

[0028] Currently, the compact joint module solution for robots integrates the reducer inside the stator core and places the driver on the motor end. This solution can improve space utilization, but high load and long-term operation will cause heat accumulation in the motor body and reducer, lacking a heat dissipation path. The internal heat accumulation will increase the risk of permanent magnet demagnetization, reduce motor efficiency, and significantly reduce the continuous output torque of the motor. The lifespan of driver electronic components, such as capacitors and power chips, decreases exponentially with increasing temperature. The reducer grease will oxidize and dry at high temperatures, accelerating gear wear, leading to loss of precision, increased noise, or even jamming. In addition, due to the compact space structure, traditional stator cooling solutions, such as oil cooling and liquid cooling, are complex and difficult to integrate effectively.

[0029] In view of this, in order to solve the above problems, please refer to the following: Figures 1-4This embodiment provides a drive motor 1, which includes a housing 10, a drive assembly 20, a motor assembly 30, a reduction assembly 40, and a heat dissipation assembly 50. The output cover 41 of the reduction assembly 40 and the heat dissipation cover 51 of the heat dissipation assembly 50 are disposed on opposite sides of the housing 10, and the output cover 41, the heat dissipation cover 51, and the housing 10 form a first receiving space 11. The drive assembly 20, the motor assembly 30, part of the reduction assembly 40, and part of the heat dissipation assembly 50 are disposed within the first receiving space 11.

[0030] The drive assembly 20 is electrically connected to the motor assembly 30, and the drive assembly 20 is used to control the motor assembly 30. The motor assembly 30 is drive-connected to the reduction assembly 40, and the reduction assembly 40 is used to output power.

[0031] The housing 10 is used to fix and protect the components of the drive motor 1. Optionally, the housing 10 is cylindrical and has a cavity extending through the housing 10 along the axial direction of the drive motor 1. For example, the output cover 41 of the reduction assembly 40 is located at the top of the housing 10, and the heat dissipation cover 51 of the heat dissipation assembly 50 is located at the bottom of the housing 10. The output cover 41, the housing 10, and the heat dissipation cover 51 surround and form a first receiving space 11.

[0032] The drive assembly 20 includes a circuit board 23 and an encoder. The circuit board 23 is electrically connected to the stator assembly 33 of the motor assembly 30 to control the rotation of the motor assembly 30. The encoder is used to obtain the absolute rotation angle information of the motor assembly 30 to determine the position of the motor output shaft 31. The drive motor 1 also includes an external wiring 24, which is electrically connected to the circuit board 23 and external electrical components, power supply, etc.

[0033] Alternatively, the drive assembly 20 may also include IGBT and MOSFET switches, resistors, capacitors, and other components.

[0034] The motor assembly 30 is used to convert electrical energy into mechanical energy. The stator assembly 33 is supplied with current to generate a rotating magnetic field, which drives the rotor assembly and the output shaft 31 to rotate. The output shaft 31 transmits electromagnetic torque to the reduction assembly 40.

[0035] The rotor assembly includes a rotating cover plate 32, magnets, etc. The rotating cover plate 32 is sleeved on the output shaft 31, and the magnets are arranged around the output shaft 31 in the circumferential direction.

[0036] The stator assembly 33 includes a steel ring, windings, etc. Magnets are mounted on the steel ring, and the windings are located on the steel ring.

[0037] The reduction gear 40 is used to reduce the high speed of the motor assembly 30 to a low speed suitable for the robot. For example, the output cover 41 of the reduction gear 40 outputs power that can directly drive the robot articulated arm.

[0038] The heat dissipation component 50 is used to dissipate heat from the heat source inside the drive motor 1. Specifically, the heat dissipation cover 51 first absorbs the heat inside the drive motor 1, and then dissipates the heat to the external environment through natural convection or forced air cooling.

[0039] In summary, the drive motor 1 provided in this embodiment integrates the drive assembly 20, the motor assembly 30, part of the reduction assembly 40, and part of the heat dissipation assembly 50 within the first receiving space 11, achieving a highly integrated layout of the motor, driver, reducer, and heat dissipation structure. This improves the integration of the drive motor 1, reduces the axial and radial dimensions of the drive motor 1, and increases the power density. Furthermore, the first receiving space 11 is enclosed by a heat dissipation cover plate 51, which directly faces the outside, forming the shortest heat dissipation path. This allows for heat dissipation through natural convection, improving the heat dissipation effect of the drive motor 1.

[0040] In addition, the output cover plate 41 and the heat dissipation cover plate 51 are respectively located on both sides, so that the power output end and the heat dissipation end are functionally separated and do not interfere with each other, thereby improving the rationality and reliability of the structural layout of the drive motor 1.

[0041] Therefore, the drive motor 1 in this embodiment has a simple structure, which not only achieves a high degree of integration of the motor assembly 30, drive assembly 20, reduction assembly 40 and heat dissipation assembly 50, but also utilizes the structure of the drive motor 1 itself to achieve heat dissipation, ensuring the overall heat dissipation effect of the drive motor 1. It has high heat dissipation efficiency, can effectively reduce the internal temperature of the motor, reduce heat accumulation, and improve the continuous output capability of the drive motor 1. It balances integration and heat dissipation performance, thereby improving the practicality and reliability of the drive motor 1.

[0042] Please refer to this as well. Figures 3-5 In one embodiment, the motor assembly 30 includes an output shaft 31, a rotating cover plate 32, and a stator assembly 33. The rotating cover plate 32 is sleeved on the output shaft 31 and is used to drive the output shaft 31 to rotate. The stator assembly 33 is arranged around the output shaft 31 in the circumferential direction.

[0043] Along the axial direction of the drive motor 1, the reduction assembly 40, the rotating cover plate 32, the stator assembly 33, and the heat dissipation cover plate 51 are arranged in sequence, and the drive assembly 20 is positioned close to the heat dissipation cover plate 51.

[0044] Therefore, this embodiment achieves axial partitioning management of the internal functional modules of the drive motor 1 by optimizing the arrangement of various components within the drive motor 1. On the one hand, by placing the drive assembly 20 and the stator assembly 33 close to the heat dissipation cover 51, the heat conduction path from the heat source to the heat dissipation interface is shortened, and the heat dissipation efficiency is improved. On the other hand, the rotating cover 32 is located between the reduction assembly 40 and the stator assembly 33, which can play an axial transition and structural support role while transmitting torque, making the arrangement of each component in a narrow space more compact and stable, and improving the stability and reliability of the drive motor 1.

[0045] Optionally, the drive assembly 20 is located between the rotating cover 32 and the heat dissipation cover 51.

[0046] This configuration optimizes the axial space utilization of the drive motor 1 while maintaining its high level of integration. It places the drive assembly 20 within a space that provides structural support and thermal management, further optimizing the structure and compressing the axial dimensions of the drive motor 1.

[0047] Alternatively, the stator assembly 33 may be equipped with at least a portion of the drive assembly 20.

[0048] This configuration optimizes the radial space utilization of the drive motor 1, achieves deep coupling between the motor assembly 30 and the drive assembly 20, further optimizes the structure, and further compresses the radial dimension of the drive motor 1. This provides a foundation for the high integration of high power density robot joints, and is especially suitable for joint application scenarios such as collaborative robots and exoskeletons where human-machine interaction space is strictly limited.

[0049] Please refer to this as well. Figures 2-5 In one embodiment, the outer surface of the heat dissipation cover 51 is provided with a plurality of heat-conducting sheets 52, and the drive assembly 20 and the stator assembly 33 are both provided with the heat-conducting sheets 52 in the orthographic projection area of ​​the heat dissipation cover 51.

[0050] Optionally, the heat-conducting plate 52 extends along the circumferential direction of the heat dissipation cover plate 51.

[0051] Optionally, multiple heat-conducting plates 52 are arranged at intervals along the radial direction of the heat dissipation cover plate 51.

[0052] Therefore, by providing heat-conducting sheets 52 on the outer surface of the heat dissipation cover 51, this embodiment increases the effective heat exchange area between the heat dissipation cover 51 and the external environment, improves the natural convection heat dissipation efficiency, and thus improves the heat dissipation effect of the heat dissipation assembly 50. Furthermore, the heat-conducting sheets 52 are arranged in direct correspondence with the drive assembly 20 and the stator assembly 33, which prevents heat from spreading laterally inside the drive motor 1, allowing heat to be conducted to the heat dissipation cover 51 along the shortest path and dissipated quickly. This effectively suppresses the temperature rise of the drive motor 1 under high power and high speed conditions, and improves the continuous output capability and service life of the drive motor 1.

[0053] Please refer to this as well. Figure 2 and Figure 5 In one embodiment, the heat dissipation cover 51 includes a central heat dissipation portion 511 and a peripheral heat dissipation portion 512; the central heat dissipation portion 511 is located in the orthographic projection area of ​​the drive assembly 20 on the heat dissipation cover 51; the peripheral heat dissipation portion 512 is disposed around the central heat dissipation portion 511 and is located in the orthographic projection area of ​​the stator assembly 33 on the heat dissipation cover 51, and there is a gap between the peripheral heat dissipation portion 512 and the central heat dissipation portion 511.

[0054] For example, the central heat dissipation part 511 is disposed adjacent to the drive assembly 20, or the central heat dissipation part 511 is indirectly connected to the drive assembly 20 through other heat-conducting components.

[0055] For example, the peripheral heat dissipation part 512 is disposed adjacent to the winding of the stator assembly 33, or the peripheral heat dissipation part 512 is indirectly connected to the winding of the stator assembly 33 through other heat-conducting components.

[0056] Optionally, the heat-conducting fins 52 of the central heat dissipation section 511 extend along the circumferential direction of the heat dissipation cover plate 51. The plurality of heat-conducting fins 52 of the central heat dissipation section 511 are arranged at intervals along the radial direction of the heat dissipation cover plate 51.

[0057] Optionally, the heat-conducting fins 52 of the peripheral heat dissipation portion 512 extend along the circumferential direction of the heat dissipation cover plate 51. The plurality of heat-conducting fins 52 of the peripheral heat dissipation portion 512 are arranged at intervals along the radial direction of the heat dissipation cover plate 51.

[0058] Optionally, the height of the heat-conducting plate 52 of the central heat dissipation part 511 is greater than the height of the heat-conducting plate 52 of the peripheral heat dissipation part 512.

[0059] The central heat dissipation section 511 corresponds to the concentrated hot spot of the drive assembly 20. The increased height of the heat-conducting plate 52 directly expands the development space of the natural convection boundary layer, further increasing the heat exchange area and the convective heat transfer coefficient, effectively reducing the heat of the drive assembly 20. The peripheral heat dissipation section 512 corresponds to the annular uniform heat source of the stator assembly 33. The lower height of the heat-conducting plate 52 meets the heat dissipation requirements while avoiding the diminishing marginal heat transfer benefits caused by the excessive height of the heat-conducting plate 52.

[0060] Optionally, the distance between the two heat-conducting plates 52 of the central heat dissipation part 511 is smaller than the distance between the two heat-conducting plates 52 of the peripheral heat dissipation part 512.

[0061] The central region has a high heat flux density, and the denser spacing of the heat-conducting fins 52 allows for more heat exchange boundaries per unit area, increasing the effective heat dissipation area. The sparser spacing of the heat-conducting fins 52 in the peripheral region reduces airflow resistance, allowing ambient cold air to smoothly enter the bottom of the heat dissipation cover 51 from the periphery and be guided to the central region through the gaps, forming a stable natural convection path of peripheral entry and central exit.

[0062] Optionally, the heat-conducting plates 52 of the central heat dissipation part 511 are columnar arrays, and the heat-conducting plates 52 of the peripheral heat dissipation part 512 are straight fins extending radially.

[0063] The high perturbation of the columnar heat-conducting fins 52 in the central region and the low flow resistance of the flat heat-conducting fins 52 in the peripheral region complement each other, enabling the heat dissipation cover 51 to achieve a complete natural convection heat dissipation system with strong perturbation heat exchange in the center, low flow resistance air intake in the periphery, and directional airflow in the gaps without the need for an external fan, further improving the continuous working capability of the drive motor 1 in an environment without forced ventilation.

[0064] Therefore, by setting a central heat dissipation part 511 and a peripheral heat dissipation part 512 with a gap between them, this embodiment achieves zoned and differentiated heat dissipation for the drive assembly 20 and the stator assembly 33. Furthermore, the independent setting of the central heat dissipation part 511 and the peripheral heat dissipation part 512 allows for optimization of the parameters of the heat conduction sheet 52 according to the heat flux density of the corresponding heat source, thus avoiding local overheating or heat dissipation redundancy caused by thermal coupling in the integrated heat dissipation cover 51.

[0065] Furthermore, the gap between the central heat dissipation section 511 and the peripheral heat dissipation section 512 can form an airflow channel, promoting natural convection. At the same time, it reduces thermal crosstalk between different heat sources, further improving the overall temperature uniformity and heat dissipation efficiency of the heat dissipation cover 51.

[0066] Furthermore, the outer periphery of the central heat dissipation part 511 is provided with a protrusion 513, and the peripheral heat dissipation part 512 is provided with a mating groove 514 extending in the radial direction of the drive motor 1, the mating groove 514 accommodating at least part of the protrusion 513.

[0067] The heat dissipation cover 51 also includes a fixing member 515, which connects the protrusion 513 to the groove wall of the mating groove 514.

[0068] A mating groove 514 can accommodate a protrusion 513. Optionally, multiple protrusions 513 are arranged at intervals along the circumferential direction of the central heat dissipation portion 511. The number of mating grooves 514 is equal to the number of protrusions 513.

[0069] Optionally, the fastener 515 is selected from a fixing pin, stud, screw, etc. Optionally, the fastener 515 is threadedly connected to the protrusion 513 and the groove wall of the mating groove 514, which can also be understood as the fastener 515 being threadedly connected to the central heat dissipation part 511 and the peripheral heat dissipation part 512.

[0070] Therefore, this embodiment achieves precise positioning and detachable rigid connection between the central heat dissipation part 511 and the peripheral heat dissipation part 512 by setting the protrusion 513 and the mating groove 514 to fit together and connecting them with the fastener 515. This not only ensures the overall structural strength of the heat dissipation cover 51 and facilitates processing, manufacturing and subsequent maintenance and replacement, but also the fitting design of the protrusion 513 and the mating groove 514 can form a limit in the radial and circumferential directions to resist thermal deformation and assembly stress, ensuring the relative position of the central heat dissipation part 511 and the peripheral heat dissipation part 512 is stable under high and low temperature cycle conditions. This ensures the positive correspondence between the heat conduction plate 52 and the drive assembly 20 and the stator assembly 33, and improves the long-term heat dissipation reliability of the heat dissipation assembly 50.

[0071] Please refer to this as well. Figures 3-4 In one embodiment, the heat dissipation assembly 50 further includes an auxiliary heat dissipation section 53, which is connected between the output shaft 31 and the stator assembly 33. The auxiliary heat dissipation section 53 has a plurality of heat-conducting fins 52 on its surface facing the rotating cover plate 32.

[0072] Optionally, the heat-conducting plate 52 extends along the circumferential direction of the auxiliary heat dissipation part 53.

[0073] Optionally, multiple heat-conducting plates 52 are arranged at intervals along the radial direction of the auxiliary heat dissipation section 53.

[0074] For example, the inner peripheral side of the auxiliary heat dissipation unit 53 is indirectly connected to the output shaft 31 via a bearing. The outer peripheral side of the auxiliary heat dissipation unit 53 is indirectly connected to the steel ring of the stator assembly 33 via other heat-conducting components.

[0075] Therefore, this embodiment adds an auxiliary heat dissipation part 53 between the output shaft 31 and the stator assembly 33 and provides a heat-conducting plate 52, forming a second heat dissipation path. The auxiliary heat dissipation part 53 can provide auxiliary heat dissipation for the stator assembly 33, the rotating cover plate 32 and its adjacent areas, effectively reducing the temperature rise of high-speed rotating components and reducing the impact of thermal deformation on transmission accuracy.

[0076] Furthermore, the auxiliary heat dissipation unit 53 and the heat dissipation cover plate 51 form multiple heat dissipation points, which further improves the heat dissipation effect of the heat dissipation component 50 on the internal heat of the drive motor 1, and is especially suitable for the thermal management needs of robot joints under frequent start-stop and high dynamic response conditions.

[0077] Please refer to this as well. Figure 4 and Figure 6 In one embodiment, the drive assembly 20 includes a first encoder gear 21, a second encoder gear 22, a first encoder, and a second encoder; the first encoder gear 21 is meshed with the output shaft 31 of the motor assembly 30; the second encoder gear 22 is meshed with the first encoder gear 21, and the number of teeth of the second encoder gear 22 is not equal to the number of teeth of the first encoder gear 21; the first encoder is used to acquire the first absolute rotation angle information of the first encoder gear 21; and the second encoder is used to acquire the second absolute rotation angle information of the second encoder gear 22.

[0078] Among them, the first encoding gear 21 and the second encoding gear 22 form a double encoding gear. By utilizing the tooth difference between the first encoding gear 21 and the second encoding gear 22, there is an angle difference after operation. The position information of the input end and the output end can be simulated by the control algorithm to achieve precise control of the motor.

[0079] Therefore, this embodiment achieves high-precision and high-reliability detection of the absolute position of the motor output shaft 31 over multiple turns by setting a first encoding gear 21 and a second encoding gear 22, and configuring a first encoder and a second encoder respectively, utilizing the difference in the transmission ratio of the two gears.

[0080] Compared to multi-turn absolute encoder solutions that rely on battery backup in related technologies, this implementation can maintain absolute position information after power failure through mechanical gear transmission, eliminating the need for battery maintenance and improving the reliability and maintenance-free nature of the system. Furthermore, the dual encoder design of the first and second encoders further enhances the anti-interference capability and fault tolerance capability of position detection, making it particularly suitable for meeting the stringent requirements of robot joints for positioning accuracy and safety.

[0081] Furthermore, a second receiving space 12 is formed between the motor assembly 30 and the heat dissipation cover 51, and the drive assembly 20 is disposed within the second receiving space 12.

[0082] The drive assembly 20 also includes a circuit board 23, and the drive motor 1 also includes an external wiring 24. The circuit board 23 is electrically connected to the motor assembly 30 and the external wiring 24. The circuit board 23 is located close to the heat dissipation cover 51, and the external wiring 24 passes through the heat dissipation cover 51 and extends to the outside.

[0083] The stator assembly 33 includes a circuit board 23, a first encoding gear 21, a second encoding gear 22, a first encoder, and a second encoder.

[0084] Therefore, this embodiment achieves physical isolation and independent heat dissipation between the drive component 20 and the motor component 30 by forming a second receiving space 12 between the motor component 30 and the heat dissipation cover 51 to accommodate the drive component 20 and placing the circuit board 23 close to the heat dissipation cover 51. The heat of the drive component 20 can be directly conducted to the heat dissipation cover 51 through the circuit board 23, thus preventing the heat of the drive component 20 from spreading to the motor component 30.

[0085] Furthermore, the external wiring 24 extends to the outside through the heat dissipation cover 51, which simplifies the wiring structure, reduces the bending and wear of the external wiring 24 in the confined space, and at the same time helps to improve the sealing performance of the first receiving space 11 and the second receiving space 12, reduce the risk of external dust and moisture intrusion, and improve the environmental adaptability of the drive motor 1 under complex working conditions.

[0086] Please refer to this as well. Figures 7-8 In one embodiment, the deceleration assembly 40 includes a first transmission wheel 42, a second transmission wheel 43, a plurality of third transmission wheels 44, and a transmission ring 45; the first transmission wheel 42 is tractively connected to the output shaft 31 of the motor assembly 30, and the rotation axis of the first transmission wheel 42 coincides with the output shaft 31 of the motor assembly 30; the plurality of second transmission wheels 43 are meshed with the first transmission wheel 42, and the plurality of second transmission wheels 43 are arranged around the first transmission wheel 42; one third transmission wheel 44 is tractively connected to one second transmission wheel 43, and the rotation axis of one third transmission wheel 44 coincides with the rotation axis of one second transmission wheel 43; the inner circumferential side of the transmission ring 45 is provided with an internal tooth portion, the internal tooth portion meshes with the plurality of third transmission wheels 44, and the transmission ring 45 is connected to the output cover plate 41.

[0087] The first transmission wheel 42, the plurality of second transmission wheels 43, the plurality of third transmission wheels 44, and the transmission ring 45 are all disposed within the first receiving space 11.

[0088] Optionally, the first transmission wheel 42 and the output shaft 31 are integral structural components. The first transmission wheel 42 has multiple external teeth, which mesh with multiple second transmission wheels 43.

[0089] Optionally, a third transmission wheel 44 and a second transmission wheel 43 are mounted on the same rotating shaft. Optionally, the third transmission wheel 44 and the second transmission wheel 43 are stacked along the axial direction of the drive motor 1.

[0090] Optionally, the transmission ring 45 is sleeved on a plurality of third transmission wheels 44. The third transmission wheels 44 have a plurality of external teeth, which mesh with the internal teeth of the transmission ring 45.

[0091] Optionally, the transmission ring 45 can be detachably connected to the output cover plate 41. For example, the connection between the transmission ring 45 and the output cover plate 41 can be made by means including but not limited to threaded connection, snap-fit ​​connection, magnetic connection, etc.

[0092] Therefore, this embodiment forms a multi-stage reduction mechanism by setting a first transmission wheel 42, a second transmission wheel 43, a third transmission wheel 44 and a transmission ring 45, and integrates all transmission components in the first receiving space 11, thereby achieving a large reduction ratio and high torque density output with a very small axial dimension.

[0093] Furthermore, the coaxial arrangement of the first transmission wheel 42 and the output shaft 31 ensures input coaxiality, while the multiple second transmission wheels 43 arranged around it distribute the load across multiple paths, improving the load-bearing capacity and operational stability of the transmission ring 45. The internal teeth of the transmission ring 45 combine the output torques of the multiple third transmission wheels 44 and transmit them to the output cover plate 41, resulting in a short transmission path, high rigidity, and low backlash. The reduction assembly 40 provided in this embodiment has a compact overall structure and is particularly suitable for the integration requirements of robot joint modules for lightweight, high rigidity, and high dynamic response.

[0094] In summary, the drive motor 1 provided in this application, after being powered on, is controlled by the drive assembly 20 to control the motor assembly 30. The rotor assembly of the motor assembly 30 rotates to generate torque, which is transmitted to the first transmission wheel 42 of the reduction assembly 40 through the rotating cover plate 32. After deceleration, the power is output by the transmission ring 45. During operation, the energy lost by the motor stator is converted into heat.

[0095] The drive assembly 20 is integrated inside the motor assembly 30, and the reduction assembly 40 is placed on the motor end side. Special heat-conducting plates 52 are arranged on the contact surfaces of the stator group 33 of the motor assembly 30 and the main heat source of the drive assembly 20, respectively. A special conduction structure is made for the main heat source, and the heat is conducted to the large-area heat dissipation fins, and then the heat is dissipated through natural convection.

[0096] Furthermore, the heat dissipation component 50 can not only remove the heat generated by the main heat-generating components of the stator assembly 33, drive assembly 20, and reduction assembly 40, but also improve the continuous output capability of the drive motor 1 and extend the service life of the gear transmission assembly.

[0097] Among them, the copper loss heat generated by the external wiring 24 is transferred through the surface of the external wiring 24 to the heat-conducting plates 52 of the central heat dissipation part 511 and the peripheral heat dissipation part 512 for dissipation; The heat loss generated by the stator assembly 33 is transferred to the heat-conducting plates 52 of the auxiliary heat dissipation part 53 and the peripheral heat dissipation part 512 for dissipation; The heat generated by the drive component 20 is transferred through the surface of the component to the heat-conducting plate 52 of the central heat dissipation part 511 for dissipation; The heat lost due to friction in the deceleration assembly 40 is transferred to the output cover plate 41 and dissipated.

[0098] Furthermore, the reduction assembly 40 adopts a multi-stage reduction mechanism, which can reduce the motor speed and increase the output torque; two encoder gears with different numbers of teeth are installed inside the housing 10. Together with the first encoder and the second encoder of the drive assembly 20, the output end position can be remembered when the power is off, and the automatic return to zero function can be realized when the power is on.

[0099] This application also provides a robot, which includes the drive motor as described above.

[0100] The robot provided in this application adopts the drive motor provided above. The drive motor integrates the drive component, motor component, part of the reduction component and part of the heat dissipation component in the first receiving space, realizing a highly integrated layout of the motor, driver, reducer and heat dissipation structure, improving the integration of the drive motor, reducing the axial and radial dimensions of the drive motor and increasing the power density; and the first receiving space is enclosed by a heat dissipation cover plate, which directly faces the outside, forming the shortest heat dissipation path, and can use natural convection to achieve heat dissipation, thereby improving the heat dissipation effect of the drive motor.

[0101] In addition, the output cover and heat dissipation cover are located on the two sides respectively, which separates the functions of the power output end and the heat dissipation end, so that they do not interfere with each other, thus improving the rationality and reliability of the drive motor's structural layout.

[0102] Therefore, the robot provided in this application, by adopting the drive motor provided above, has a simple structure, which not only achieves a high degree of integration of motor components, drive components, reduction components and heat dissipation components, but also utilizes the drive motor's own structure to achieve heat dissipation, ensuring the overall heat dissipation effect of the drive motor, with high heat dissipation efficiency, effectively reducing the internal temperature of the motor, reducing heat accumulation, and improving the continuous output capability of the drive motor, thus balancing integration and heat dissipation performance, thereby improving the practicality and reliability of the drive motor.

[0103] Unless otherwise stated or in case of conflict, the terms or phrases used in this application shall have the following meanings: In this application, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0104] In this application, "one or more" refers to any one, any two, or any two or more of the listed items. "Several" refers to any two or more.

[0105] In this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and 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. Therefore, they should not be construed as limitations on this application.

[0106] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0107] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form yet another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0108] The above description represents some embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A drive motor, characterized in that, The drive motor includes a housing, a drive assembly, a motor assembly, a reduction assembly, and a heat dissipation assembly. The output cover of the reduction assembly and the heat dissipation cover of the heat dissipation assembly are located on opposite sides of the housing, and the output cover, the heat dissipation cover, and the housing enclose a first receiving space. The drive assembly, the motor assembly, part of the reduction assembly, and part of the heat dissipation assembly are located within the first receiving space. The drive assembly is electrically connected to the motor assembly, and the drive assembly is used to control the motor assembly. The motor assembly is drive-connected to the reduction assembly, and the reduction assembly is used to output power.

2. The drive motor as described in claim 1, characterized in that, The motor assembly includes an output shaft, a rotating cover plate, and a stator assembly. The rotating cover plate is sleeved on the output shaft and is used to drive the output shaft to rotate. The stator assembly is arranged around the output shaft in the circumferential direction. Along the axial direction of the drive motor, the reduction assembly, the rotating cover, the stator assembly, and the heat dissipation cover are arranged in sequence, and the drive assembly is positioned close to the heat dissipation cover.

3. The drive motor as described in claim 2, characterized in that, The outer surface of the heat dissipation cover is provided with a plurality of heat-conducting plates, and the drive assembly and the stator assembly are both provided with the heat-conducting plates in the orthographic projection area of ​​the heat dissipation cover.

4. The drive motor as described in claim 3, characterized in that, The heat dissipation cover includes: The central heat dissipation section is located in the area of ​​the drive component projected onto the heat dissipation cover. A peripheral heat dissipation section is arranged around the central heat dissipation section and is located in the orthogonal projection area of ​​the stator assembly on the heat dissipation cover plate. There is a gap between the peripheral heat dissipation section and the central heat dissipation section.

5. The drive motor as described in claim 4, characterized in that, The outer periphery of the central heat dissipation part is provided with a protrusion, and the peripheral heat dissipation part is provided with a mating groove extending in the radial direction of the drive motor, and the mating groove accommodates at least part of the protrusion; The heat dissipation cover also includes a fixing member, which connects the protrusion to the groove wall of the mating groove.

6. The drive motor as described in claim 2, characterized in that, The heat dissipation assembly also includes an auxiliary heat dissipation section, which is connected between the output shaft and the stator assembly. The auxiliary heat dissipation section has multiple heat-conducting fins on its surface facing the rotating cover plate.

7. The drive motor as described in claim 1, characterized in that, The driving component includes: The first encoding gear meshes with the output shaft of the motor assembly; The second encoding gear meshes with the first encoding gear, and the number of teeth on the second encoding gear is not equal to the number of teeth on the first encoding gear; A first encoder is used to acquire the first absolute rotation angle information of the first encoded gear; The second encoder is used to acquire the second absolute rotation angle information of the second encoded gear.

8. The drive motor as described in claim 7, characterized in that, A second receiving space is formed between the motor assembly and the heat dissipation cover, and the drive assembly is disposed within the second receiving space; The drive assembly also includes a circuit board, and the drive motor also includes an external wiring. The circuit board electrically connects the motor assembly and the external wiring. The circuit board is located near the heat sink cover, and the external wiring passes through the heat sink cover and extends to the outside.

9. The drive motor as described in claim 1, characterized in that, The deceleration component includes: The first transmission wheel is connected to the output shaft of the motor assembly, and the rotation shaft of the first transmission wheel coincides with the output shaft of the motor assembly; A plurality of second transmission wheels are meshed with the first transmission wheel, and the plurality of second transmission wheels are arranged around the first transmission wheel; Multiple third transmission wheels, one of the third transmission wheels being connected to one of the second transmission wheels, and the rotation axis of one of the third transmission wheels coinciding with the rotation axis of one of the second transmission wheels; The transmission ring has internal teeth on its inner circumferential side, which mesh with the plurality of third transmission wheels, and the transmission ring is connected to the output cover plate. The first transmission wheel, the plurality of second transmission wheels, the plurality of third transmission wheels, and the transmission ring are all disposed within the first receiving space.

10. A robot, characterized in that, The robot includes a drive motor as described in any one of claims 1-9.

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