Servo motor and industrial robot

Abstract

The utility model discloses a servo motor and an industrial robot. The servo motor comprises a shell, a stator assembly, a rotor assembly, a brake assembly and heat-conducting glue, the shell comprises a machine shell, and the machine shell is provided with an inner cavity; the rotor assembly comprises a rotating shaft which penetrates through the inner cavity and can rotate relative to the machine shell. The stator assembly is arranged in the inner cavity and surrounds the periphery of the rotor assembly; the brake assembly is arranged in the shell and comprises a brake stator and a brake rotor, the brake rotor is arranged on the rotating shaft, and the brake stator is arranged on the outer side of the brake rotor in a sleeving mode; and the heat-conducting glue is at least encapsulated between the stator assembly and the side wall of the inner cavity, so that the casing and the stator assembly form an integrated structure when the heat-conducting glue is cured. The servo motor provided by the utility model has the characteristics of compact structure and high efficiency, accelerates the heat dissipation, improves the heat dissipation effect, and reduces the temperature rise of the stator assembly, thereby being capable of improving the power density of the servo motor.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, and in particular to a servo motor and an industrial robot. Background Art

[0002] With the development of industrial production automation and intelligence, servo systems have been widely used in industrial production equipment due to their high control accuracy and fast response, and have gradually replaced the drive and stepper motor transmission control system. However, in the servo control system, due to the limitations of the working environment and size and weight, there are high requirements for the integration and power density of servo motors. Achieving good heat dissipation of the motor within a limited size is one of the key factors to ensure the efficiency of the motor, and it is also one of the key factors restricting the development of servo motors towards integration.

[0003] Therefore, how to improve the integration level of motors, how to achieve good heat dissipation of motors in highly integrated situations, how to improve the power density of servo motors and reduce the internal temperature difference of motors are attracting more and more attention in the industry. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a servo motor, which has a good heat dissipation effect and can improve the power density of the motor.

[0005] The utility model also provides an industrial robot adopting the servo motor.

[0006] According to the servo motor of the first aspect of the present invention, the servo motor comprises: a housing, a stator assembly, a rotor assembly, a brake assembly and thermally conductive adhesive, wherein the housing comprises a casing having an inner cavity; the rotor assembly comprises a rotating shaft, the rotating shaft passes through the inner cavity and can rotate relative to the housing; the stator assembly is arranged in the inner cavity and is arranged around the outer circumference of the rotor assembly; the brake assembly is arranged in the housing, the brake assembly comprises a brake stator and a brake rotor, the brake rotor is arranged on the rotating shaft, and the brake stator is sleeved on the outer side of the brake rotor; the thermally conductive adhesive is at least poured between the stator assembly and the side wall of the inner cavity, so that when the thermally conductive adhesive is cured, the housing and the stator assembly form an integrated structure.

[0007] The servo motor according to the embodiment of the utility model has at least the following beneficial effects: the brake assembly of the servo motor of the embodiment of the utility model is arranged in the shell, which improves the integration degree of the servo motor, improves the power density of the servo motor, and has the characteristics of compact structure and high efficiency. In addition, the servo motor adopting the above technical scheme eliminates the air gap between the stator assembly and the casing, shortens the heat conduction path between the stator assembly as the heat source and the casing as the heat dissipation surface, reduces the thermal resistance between the stator core and the winding and the casing, and makes it easy for the heat generated inside the stator assembly to be transferred to the stator casing, thereby accelerating the dissipation of heat, improving the heat dissipation effect, and reducing the temperature rise of the stator assembly, so as to improve the power density of the servo motor; at the same time, due to the good heat dissipation effect of the servo motor, there is no need to set a cooling fan inside the motor, which reduces the complexity of the structure, eliminates the influence of the fan speed limit on the working environment, and also eliminates the ventilation loss, so that the efficiency of the motor at high speed is less affected.

[0008] According to some embodiments of the present invention, the stator assembly includes a stator core and a winding, and the thermal conductive adhesive is also poured into the gap between the stator core and the winding.

[0009] According to some embodiments of the utility model, the shell further includes a rear end cover, which is disposed at one end of the casing and fixedly connected to the casing, and the brake assembly is disposed in the rear end cover.

[0010] According to some embodiments of the utility model, the rear end cover is provided with a bearing seat, the bearing seat is installed with a bearing, the bearing has an inner ring and an outer ring, the outer ring and the bearing seat are fixedly connected, the inner ring and the outer ring are rotatably connected, and the rotating shaft passes through the inner ring.

[0011] According to some embodiments of the present invention, the axial end surface of the brake stator is arranged in close contact with the outer ring.

[0012] According to some embodiments of the present invention, the rear end cover has a front end surface on a side close to the brake stator, and an axial gap between the brake stator and the front end surface is less than or equal to 0.5 mm.

[0013] According to some embodiments of the utility model, the rear end cover is provided with a mounting sleeve, the mounting sleeve is extended along the axial direction of the rear end cover, and the brake stator is arranged in the mounting sleeve.

[0014] According to some embodiments of the present invention, a radial gap between the brake stator and the mounting sleeve is less than or equal to 1 mm.

[0015] According to some embodiments of the utility model, the rear end cover is provided with a rotary transformer, the rotary transformer is sleeved on the rotating shaft, and the rotary transformer is arranged on a side of the bearing seat away from the brake stator.

[0016] According to some embodiments of the utility model, a plurality of heat dissipation ribs are provided on the outer surface of the housing, and the plurality of heat dissipation ribs are arranged at intervals.

[0017] According to some embodiments of the utility model, the rotor assembly also includes a rotor core and a plurality of permanent magnet groups arranged at circumferential intervals along the rotor core, the rotor core is sleeved on the rotating shaft and is arranged corresponding to the stator assembly, the permanent magnet group includes a plurality of segments of permanent magnets, and the plurality of segments of permanent magnets are arranged at axial intervals along the rotor core.

[0018] According to some embodiments of the present invention, an insulating layer is provided between two adjacent permanent magnets.

[0019] According to some embodiments of the present invention, the stator core includes a plurality of segmented stator cores, and the plurality of segmented stator cores are arranged along the circumference of the stator.

[0020] According to some embodiments of the present invention, the thermally conductive adhesive is epoxy resin AB adhesive, silicone thermally conductive adhesive, polyurethane adhesive, polyurethane thermally conductive and electrically conductive adhesive, or thermally conductive silicone grease.

[0021] According to an embodiment of the second aspect of the utility model, the industrial robot comprises a robot body and a servo motor as described in any one of the above items, wherein the servo motor is connected to the robot body, and the servo motor is used to drive the robot body to move.

[0022] The robot provided by the embodiment of the utility model includes the servo motor of any of the above technical solutions, and therefore has all the beneficial effects of the servo motor, which will not be described one by one here.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0025] Figure 1 A three-dimensional schematic diagram of a servo motor according to an embodiment of the utility model;

[0026] Figure 2 A cross-sectional view of a servo motor according to an embodiment of the utility model;

[0027] Figure 3A cross-sectional view of the assembly structure of the housing and stator assembly of a servo motor according to an embodiment of the utility model;

[0028] Figure 4 A three-dimensional schematic diagram of a rear end cover of a servo motor according to an embodiment of the utility model;

[0029] Figure 5 This is a schematic diagram of the assembly of a brake assembly and a rear end cover of a servo motor according to an embodiment of the utility model;

[0030] Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0031] Figure Number:

[0032] Servo motor 10,

[0033] Shell 100, housing 110, heat dissipation ribs 111, heat dissipation grooves 112, inner cavity 113, front end cover 120, rear end cover 130, bearing seat 131, front end surface 132, axial gap 133, mounting sleeve 134, radial gap 135, stopper 136, bearing 140, inner ring 141, outer ring 142, thermal conductive adhesive 150;

[0034] Stator assembly 200, stator core 210, winding 220;

[0035] Rotor assembly 300, rotating shaft 310;

[0036] Brake assembly 400, brake stator 410, brake rotor 420;

[0037] Rotary transformer 500. DETAILED DESCRIPTION

[0038] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it should be understood that the descriptions involving orientation, such as left, right, etc., the orientation or positional relationship indicated are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0042] In recent years, with the development of industrial production automation and intelligence, servo systems have been widely used in industrial production equipment due to their high control accuracy and fast response, and have gradually replaced the transmission control system of driver plus stepper motor.

[0043] One of the key factors restricting the development of servo motors towards integration is to achieve heat dissipation of servo motors within a limited size. To this end, the utility model proposes a servo motor 10, which improves the integration level of the motor and, during the design process of the motor, sorts out each heat source and performs effective heat conduction design on the heat of each heat source. The servo motor 10 after optimized design makes the heat conduction path more reasonable, reduces the temperature of local high points, makes the temperature distribution of each point under different working conditions more reasonable, and further improves the power density of the motor.

[0044] Reference Figure 1 , Figure 2 The servo motor 10 proposed in the first embodiment of the utility model comprises a housing 100, a stator assembly 200, a rotor assembly 300, a brake assembly 400 and a heat conductive adhesive 150, wherein the housing 100 comprises a casing 110 and a rear end cover 130, one end of the casing 110 is provided with a front end cover 120, in this embodiment, the front end cover 120 and the casing 110 are an integrated structure, the rear end cover 130 is arranged at one end of the casing 110 away from the front end cover 120, and the rear end cover 130 is fixedly connected to the casing 110 by fasteners such as bolts, screws, etc., the front end cover 120 is blocked at the front end of the casing 110, and the rear end cover 130 is blocked at the rear end of the casing 110, and the casing 110 has an inner cavity 113. The casing 110 needs to have good heat dissipation performance so as to be able to dissipate the heat generated inside the motor in time, so the casing 110 can be made of materials with good thermal conductivity, such as metal materials and other non-metallic materials with good thermal conductivity.

[0045] The stator assembly 200 is arranged in the inner cavity 113. The stator assembly 200 includes a stator core 210 and a winding 220. The winding 220 is wound on the stator core 210. The winding 220 can adopt a distributed winding 220 or a concentrated winding 220. When the concentrated winding 220 is adopted, the stator core 210 can adopt a whole-circle stator punching sheet or a block stator punching sheet. The stator core 210 can be formed by stacking high-magnetic permeability silicon steel sheets. It can be understood that the stator core 210 made of block stator punching sheets can place more wires than the stator core 210 made of whole-circle stator punching sheets, can obtain a higher slot fill rate, and can further reduce the heat generation of the stator assembly 200 of the motor.

[0046] When the motor is working, a certain current flows through the winding 220, which will generate a certain amount of Joule heat. In addition, the stator core 210 is in an alternating magnetic field, which will also generate a certain amount of heat. It is understandable that when the motor is manufactured, the area of ​​the winding slot of the designed motor has been determined, and the turns of the winding are also basically determined. Therefore, under the limited slot area, the winding 220 can be wound with copper wire with a larger cross-sectional area to increase the slot fill rate of the stator assembly 200. The copper wire with a larger cross-sectional area has a lower resistivity and can reduce the heat generation of the winding 220 itself. In addition, the stator core 210 can be made of thinner silicon steel sheets with lower losses, which can correspondingly reduce the heat generation of the stator core 210, thereby reducing the temperature rise of the motor stator assembly 200.

[0047] The rotor assembly 300 is arranged in the inner cavity 113 and is arranged corresponding to the stator assembly 200. The rotor assembly 300 includes a rotating shaft 310, a rotor core and a permanent magnet. The rotor core can be made of high-magnetic permeability silicon steel sheets. The rotor core made of silicon steel sheets can reduce the eddy current loss generated by high-frequency magnetic field changes and reduce the heat generation of the rotor core body. The rotating shaft 310 is penetrated in the inner cavity 113 and can rotate relative to the housing 110. In the power-on state, the rotor assembly 300 and the stator assembly 200 interact with each other to drive the rotating shaft 310 to rotate, thereby realizing the power output of the servo motor 10. The rotating shaft 310 has a connecting end, which extends out of the front end cover 120. Through the connecting end, it can be connected to the input end of equipment such as industrial robots to drive the actions of industrial robots.

[0048] The brake assembly 400 is disposed in the housing 100 , and includes a brake stator 410 and a brake rotor 420 . The brake rotor 420 is sleeved on the rotating shaft 310 and fixedly connected to the rotating shaft 310 . The brake stator 410 is sleeved on the outer side of the brake rotor 420 .

[0049] The brake assembly 400 is an electromagnetic brake, which can adopt a normally closed structure, that is, the electromagnetic brake is released when the power is on, and locked when the power is off, so as to improve the safety of the servo system. For the normally closed structure, the electromagnetic brake needs to be always in the energized state when the motor is working, and there is continuous heating. Therefore, under the condition of meeting the speed and braking torque requirements, try to choose an electromagnetic brake with a smaller heating power to reduce the local heating of the motor and reduce the temperature rise of the motor.

[0050] Reference Figure 2 A thermally conductive adhesive 150 is encapsulated between the stator assembly 200 and the side wall of the inner cavity 113. The thermally conductive adhesive 150 is filled between the stator assembly 200 and the side wall of the inner cavity 113, that is, the thermally conductive adhesive 150 is filled between: the side of the stator assembly 200 and the housing 110, between the end of the stator assembly 200 close to the front cover 120 and the front cover 120, and the end of the stator assembly 200 away from the front cover 120. After the encapsulated thermally conductive adhesive 150 is cured, the housing 110 and the stator assembly 200 are cured into one, so that the housing 110 and the stator assembly 200 become an integral structure, thereby shortening the heat conduction path between the stator winding 220 as a heat source and the housing 110 as a heat dissipation surface, and reducing the temperature rise of the motor winding 220.

[0051] It should be noted that the thermal conductive adhesive 150 cannot cover the side of the stator assembly 200 opposite to the rotor core to ensure that the rotor assembly 300 can operate normally relative to the stator assembly 200 .

[0052] It is understandable that the thermal conductive adhesive 150 can be made of high thermal conductive materials such as epoxy resin AB adhesive, silicone thermal conductive adhesive, polyurethane adhesive, polyurethane thermal conductive and electrically conductive adhesive, thermal conductive silicone grease, etc., which is not limited here.

[0053] As can be seen from the above, the brake assembly 400 of the servo motor 10 of the embodiment of the utility model is arranged in the housing 100, which improves the integration degree of the servo motor 10, improves the power density of the motor, and has the characteristics of compact structure and high efficiency. In addition, the servo motor 10 adopting the above technical solution eliminates the air gap between the stator assembly 200 and the housing 110, shortens the heat conduction path between the stator assembly 200 as a heat source and the housing 110 as a heat dissipation surface, reduces the thermal resistance between the stator core 210 and the winding 220 and the housing 110, and makes it easy for the heat generated inside the stator assembly 200 to be transferred to the stator housing 110, thereby accelerating the heat dissipation, improving the heat dissipation effect, and reducing the temperature rise of the stator assembly 200, so as to improve the power density of the motor; at the same time, due to the good heat dissipation effect of the servo motor, there is no need to set a cooling fan inside the motor, which reduces the complexity of the structure, eliminates the influence of the fan speed limit on the working environment, and also eliminates the ventilation loss, so that the efficiency of the motor at high speed is less affected.

[0054] It should be noted that the stator core 210 may also be made of other high magnetic permeability materials such as ferrite, aluminum nickel cobalt alloy, etc., and correspondingly, the rotor core may also be made of other high magnetic permeability materials such as ferrite, aluminum nickel cobalt alloy, etc., which is not limited here.

[0055] It is understandable that the potting of the thermal conductive adhesive 150 can be completed by using a potting tool, and the potting tool can be configured according to the specific structure of the servo motor 10, which will not be described in detail here.

[0056] The brake assembly 400 may adopt other structures commonly used in the servo motor 10, such as a normally open electromagnetic brake, which is not limited here.

[0057] It is understandable that after the stator core 210 and the winding 220 are manufactured, there may be gaps between the stator punchings of the stator core 210, and there may be gaps between the wires of the winding 220. In the present embodiment, the thermal conductive adhesive 150 is also encapsulated in the gaps that may exist between the wires of the winding 220 and between the stator punchings, so as to further eliminate the air gap in the stator assembly 200, reduce the thermal resistance of the stator assembly 200 itself, and increase the speed at which the stator assembly 200 conducts heat to the casing 110, so as to reduce the temperature rise of the stator assembly 200.

[0058] Reference Figure 1 , Figure 3 In some embodiments, a plurality of heat dissipation ribs 111 are provided on the outer surface of the casing 110, and the plurality of heat dissipation ribs 111 are arranged at intervals, and heat dissipation grooves 112 are formed between adjacent heat dissipation ribs 111. The heat dissipation ribs 111 and the heat dissipation grooves 112 are arranged along the axial direction of the casing 110, and the plurality of heat dissipation ribs 111 and the heat dissipation grooves 112 are arranged in the circumferential direction of the casing 110, thereby increasing the surface area of ​​the casing 110. In this embodiment, the heat conducted out of the stator assembly 200 is dissipated through the casing 110 and the heat dissipation ribs 111 and the heat dissipation grooves 112 on the casing 110 by natural convection. The heat dissipation method using natural convection can effectively dissipate the heat into the air.

[0059] It is understandable that, while the heat dissipation ribs 111 and the heat dissipation grooves 112 are provided on the housing 110 , a fan may also be installed on the servo motor 10 , and the air on the surface of the housing 110 may flow through the fan, thereby achieving a better heat dissipation effect.

[0060] It should be noted that the heat dissipation ribs 111 may also be arranged along different directions of the housing 110 , as long as the surface area of ​​the housing 110 can be increased to achieve the purpose of improving the heat dissipation effect of the housing 110 .

[0061] Reference Figure 2 , Figure 4The rear end cover 130 is arranged at one end of the housing 110 away from the front end cover 120, and the rear end cover 130 is fixedly connected to the housing 110 by fasteners such as bolts, etc. The brake assembly 400 is arranged in the rear end cover 130, and the rear end cover 130 is provided with a bearing seat 131, and the bearing seat 131 is installed with a bearing 140. In order to reduce the heat generated by the bearing 140 itself, a bearing 140 with less loss can be selected. The bearing 140 has an inner ring 141 and an outer ring 142, the outer ring 142 is fixedly connected to the bearing seat 131, the inner ring 141 and the outer ring 142 are rotatably connected, and a rotating member (such as a ball, a roller, etc.) is arranged between the inner ring 141 and the outer ring 142 to realize the function of supporting rotation, and the rotating shaft 310 is passed through the inner ring 141. The rear end cover 130 is used to fix the bearing 140 and the brake assembly 400. When the servo motor 10 is running, the brake assembly 400 will continue to generate heat, and the bearing 140 will also generate heat during operation. Therefore, the rear end cover 130 can be made of a metal material with good thermal conductivity to improve the heat dissipation efficiency of the rear end cover 130. The brake assembly 400 is arranged in the rear end cover 130, which improves the integration of the servo motor 10 and further improves the power density of the servo motor 10.

[0062] Reference Figure 5 , Figure 6 In some embodiments, the bearing 140 is partially exposed outside the bearing seat 131, and the axial end face of the brake stator 410 is arranged close to the outer ring 142 of the bearing 140. The end of the outer ring 142 of the bearing 140 away from the brake stator 410 abuts against the stopper 136 of the bearing seat 131. Through the cooperation between the brake stator 410 and the stopper 136 of the bearing seat 131, the axial positioning of the bearing 140 on the rotating shaft 310 is achieved to reduce the axial length of the motor and further improve the integration of the servo motor 10.

[0063] Since the brake assembly 400 will continue to generate heat when the servo motor 10 is running, and while improving the integration of the servo motor 10, a gap may exist between the brake stator 410 and the rear end cover 130. Therefore, it is necessary to increase the heat dissipation area between the brake assembly 400 and the rear end cover 130, and reduce the thermal resistance between the brake assembly 400 and the rear end cover 130.

[0064] Reference Figure 5 , Figure 6 In some embodiments, a front end face 132 is provided on the side of the rear end cover 130 close to the brake stator 410, and the front end face 132 is opposite to the axial end of the brake stator 410. When an axial gap 133 is provided between the brake stator 410 and the front end face 132, the size of the axial gap 133 is controlled to be less than 0.5 mm to reduce the axial thermal resistance between the brake stator 410 and the rear end cover 130, and reduce the temperature difference between the brake stator 410 and the rear end cover 130.

[0065] It is understandable that, in some embodiments, a retaining ring can also be used to axially position the bearing 140. In this embodiment, the axial dimension of the bearing seat 131 can be slightly larger than the axial dimension of the bearing 140, and the bearing 140 is fully assembled in the bearing seat 131. Therefore, when the retaining ring is used instead of the brake stator 410 to axially position the bearing 140, the end of the brake stator 410 can be made to fit with the front end face 132 of the rear end cover 130, thereby eliminating the air gap between the brake stator 410 and the rear end cover 130, reducing the thermal resistance between the brake stator 410 and the rear end cover 130, and further reducing the temperature of the brake assembly 400.

[0066] Reference Figure 4 , Figure 5 , Figure 6 In some embodiments, the rear end cover 130 is provided with a mounting sleeve 134, which is arranged along the circumference of the bearing seat 131 and extends along the axial direction of the rear end cover 130 toward the housing 110. The brake stator 410 is arranged in the mounting sleeve 134. The mounting sleeve 134 can be made of the same material as the rear end cover 130, so that the mounting sleeve 134 has a heat dissipation performance corresponding to the rear end cover 130, thereby ensuring the heat dissipation efficiency between the brake stator 410 and the rear end cover 130. In addition, by providing the mounting sleeve 134, the heat dissipation area between the brake stator 410 and the rear end cover 130 is increased, and the heat dissipation performance between the brake stator 410 and the rear end cover 130 is improved.

[0067] It is understandable that the mounting sleeve 134 and the rear end cover 130 can be integrally formed or can be a split structure. The split structure facilitates the processing of the rear end cover 130 and the mounting sleeve 134. When the mounting sleeve 134 and the rear end cover 130 are a split structure, the mounting sleeve 134 can be fixed to the rear end cover 130 by welding, connecting with a fixing piece, etc.

[0068] It is understandable that when the brake stator 410 is installed in the mounting sleeve 134, it can be connected to the mounting sleeve 134 by a transition fit or a clearance fit. When a transition fit is adopted, the air gap between the brake stator 410 and the mounting sleeve 134 can be eliminated or reduced, the thermal resistance between the brake stator 410 and the rear end cover 130 can be reduced, the heat dissipation efficiency between the brake stator 410 and the rear end cover 130 can be improved, and the temperature rise of the brake stator 410 can be reduced.

[0069] Reference Figure 6In this embodiment, the brake stator 410 and the mounting sleeve 134 are connected by a clearance fit, and a radial gap 135 is provided between the brake stator 410 and the mounting sleeve 134. The radial gap 135 is less than or equal to 1 mm, which can reduce the radial thermal resistance between the brake stator 410 and the rear end cover 130 and reduce the temperature difference between the brake stator 410 and the rear end cover 130.

[0070] It can be understood that when there is an axial gap 133 between the brake stator 410 and the front end face 132 and a radial gap 135 between the brake stator 410 and the mounting sleeve 134, a thermal conductive adhesive 150 can be coated on the inner side of the front end face 132 and the mounting sleeve 134, and thermal conductive materials such as indium sheets can be pasted to reduce the thermal resistance between the brake stator 410 and the front end face 132 and between the brake stator 410 and the mounting sleeve 134, thereby reducing the temperature rise of the brake assembly 400.

[0071] Indium sheet is a new type of composite heat conduction material. Its main component is unsaturated polyester resin, which is formed through polymerization reaction. It has good heat conduction performance and is suitable for long-term use in high temperature environment.

[0072] Reference Figure 2 In some embodiments, the rear end cover 130 is provided with a rotary transformer 500, which is sleeved on the rotating shaft 310, and the rotary transformer 500 is arranged on the side of the bearing seat 131 away from the brake stator 410, that is, the rotary transformer 500 is installed at the tail of the servo motor 10. By setting the rotary transformer 500 on the side of the rear end cover 130 away from the brake assembly 400, the heat conducted to the rotary transformer from the main heat source of the servo motor 10, such as the stator winding 220, the brake assembly 400 and other components, can be reduced, thereby avoiding abnormal operation of the rotary transformer due to excessive temperature rise.

[0073] It is understandable that, in some embodiments, the rotor assembly 300 uses multiple permanent magnet groups, and the multiple permanent magnet groups are arranged at intervals along the circumference of the rotor core. Each permanent magnet group includes multiple segments of permanent magnets, and the multiple segments of permanent magnets are arranged at intervals along the axial direction of the rotor core. Axial insulation treatment is performed between two adjacent permanent magnets. The combination of multiple segments of permanent magnets can reduce the eddy current loss of the permanent magnets, thereby reducing the total heat generation of the rotor assembly 300, and as the number of permanent magnets in the permanent magnet group increases, the eddy current loss of the permanent magnets is further reduced.

[0074] Reference Figures 1 to 6 , the performance of the servo motor 10 according to a specific embodiment of the utility model will be described below with reference to the accompanying drawings.

[0075] In this embodiment, the servo motor 10 includes a housing 100 , a stator assembly 200 , a rotor assembly 300 , a brake assembly 400 , and a rotary transformer 500 .

[0076] The housing 100 includes a casing 110 and a rear end cover 130. A front end cover 120 is provided at one end of the casing 110. The front end cover 120 and the casing 110 are an integrated structure. The rear end cover 130 is provided at one end of the casing 110 away from the front end cover 120, and the rear end cover 130 is fixedly connected to the casing 110 by fasteners such as bolts. The casing 110 has an inner cavity 113. The casing 110 is made of a material with good thermal conductivity, such as a metal material or other non-metallic material with good thermal conductivity.

[0077] The outer surface of the casing 110 is provided with a plurality of heat dissipation ribs 111, and the plurality of heat dissipation ribs 111 are arranged at intervals, and heat dissipation grooves 112 are formed between adjacent heat dissipation ribs 111. The heat dissipation ribs 111 and the heat dissipation grooves 112 are arranged along the axial direction of the casing 110, and the plurality of heat dissipation ribs 111 and the heat dissipation grooves 112 are arranged in the circumferential direction of the casing 110, thereby increasing the surface area of ​​the casing 110.

[0078] The rear end cover 130 is provided with a bearing seat 131, and the bearing seat 131 is installed with a bearing 140. The bearing 140 has an inner ring 141 and an outer ring 142. The outer ring 142 is fixedly connected to the bearing seat 131, and the inner ring 141 and the outer ring 142 are rotatably connected. The rotating shaft 310 passes through the bearing 140. The rear end cover 130 is provided with a mounting sleeve 134. The mounting sleeve 134 is arranged along the circumference of the bearing seat 131 and extends along the axial direction of the rear end cover 130 toward the direction close to the casing 110.

[0079] The stator assembly 200 is disposed in the inner cavity 113. The stator assembly 200 includes a stator core 210 and a winding 220. The winding 220 is wound on the stator core 210. A thermal conductive adhesive 150 is encapsulated between the stator assembly 200 and the side wall of the inner cavity 113. The thermal conductive adhesive 150 is filled between the stator assembly 200 and the side wall of the inner cavity 113. Figure 2 The thermal conductive adhesive 150 is filled between: the side of the stator assembly 200 and the housing 110, between the end of the stator assembly 200 close to the front cover 120 and the front cover 120, and the end of the stator assembly 200 away from the front cover 120. The thermal conductive adhesive 150 after potting is cured to make the housing 110 and the stator assembly 200 solidified into one. The thermal conductive adhesive 150 can be made of high thermal conductivity materials such as epoxy resin AB glue, silicone thermal conductive adhesive 150, polyurethane glue, polyurethane thermal conductive and electrically conductive adhesive, thermal conductive silicone grease, etc.

[0080] The rotor assembly 300 is arranged in the inner cavity 113. The rotor assembly 300 includes a rotating shaft 310, a rotor core and a plurality of permanent magnet groups. The plurality of permanent magnet groups are arranged at intervals along the circumference of the rotor core. The rotor core is sleeved on the rotating shaft 310 and is arranged corresponding to the stator assembly 200. Each permanent magnet group includes a plurality of segments of permanent magnets. The plurality of segments of permanent magnets are arranged at intervals along the axial direction of the rotor core, and axial insulation is performed between two adjacent permanent magnets.

[0081] The brake assembly 400 is arranged in the rear end cover 130. The brake assembly 400 is an electromagnetic brake. The electromagnetic brake can adopt a normally closed structure. The brake assembly 400 includes a brake stator 410 and a brake rotor 420. The brake rotor 420 is sleeved on the rotating shaft 310 and fixedly connected to the rotating shaft 310. The brake stator 410 is sleeved on the outside of the brake rotor 420.

[0082] A front end face 132 is provided on the side of the rear end cover 130 close to the brake stator 410. The front end face 132 is opposite to the axial end of the brake stator 410. When there is an axial gap 133 between the brake stator 410 and the front end face 132, the size of the axial gap 133 is controlled to be less than 0.5 mm. The brake stator 410 is arranged in the mounting sleeve 134. There is a radial gap 135 between the brake stator 410 and the mounting sleeve 134. The radial gap 135 is less than or equal to 1 mm.

[0083] The axial end face of the brake stator 410 is arranged close to the outer ring 142 of the bearing 140, and the end of the outer ring 142 of the bearing 140 away from the brake stator 410 abuts against the stop portion 136 of the bearing seat 131 to achieve axial positioning of the bearing 140 on the rotating shaft 310, reduce the axial length of the motor, and improve the integration of the servo motor 10.

[0084] The rear end cover 130 is provided with a rotary transformer 500, which is sleeved on the rotating shaft 310 and is arranged on the side of the bearing seat 131 away from the brake stator 410, thereby reducing the heat transmitted to the rotary transformer from the main heat sources of the servo motor 10, such as the stator winding 220, the brake assembly 400 and other components, to avoid abnormal operation of the rotary transformer due to excessive temperature rise.

[0085] The servo motor 10 in this embodiment has an effective heat conduction design for the heat of each heat source, and the heat conduction path is more reasonable, which can effectively reduce the accumulation of heat in the servo motor 10 and reduce the temperature rise of the servo motor 10, thereby achieving the characteristics of high integration, compact structure, and high efficiency. In addition, the servo motor 10 in this embodiment uses components with low self-heating, such as the rotor assembly 300, the brake assembly 400, the bearing 140, etc., which reduces the temperature of local high points, makes the temperature distribution of each point under different working conditions more reasonable, and improves the power density of the motor.

[0086] The industrial robot proposed in the second embodiment of the utility model comprises a robot body and a servo motor 10 of any of the above embodiments, the servo motor 10 is connected to the robot body, and the servo motor 10 is used to drive the robot body to move.

[0087] The robot provided in the embodiment of the utility model includes the servo motor 10 of any of the above technical solutions, and therefore has all the beneficial effects of the servo motor 10, which will not be described one by one here.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] Of course, the present invention is not limited to the above-mentioned embodiments, and technicians familiar with the field may make equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A servo motor, characterized in that: include: The housing comprises a casing having an inner cavity; A rotor assembly, the rotor assembly comprising a rotating shaft, the rotating shaft passes through the inner cavity and can rotate relative to the housing; A stator assembly, disposed in the inner cavity and wound around the outer circumference of the rotor assembly; A brake assembly is arranged in the housing, the brake assembly comprises a brake stator and a brake rotor, the brake rotor is arranged on the rotating shaft, and the brake stator is sleeved on the outer side of the brake rotor; The thermally conductive adhesive is at least embedded between the stator assembly and the inner cavity side wall, so that when the thermally conductive adhesive is cured, the housing and the stator assembly form an integrated structure.

2. The servo motor according to claim 1, characterized in that: The stator assembly includes a stator core and a winding, and the thermal conductive adhesive is also filled in the gap between the winding and the stator core.

3. The servo motor according to claim 1, characterized in that: The shell body also includes a rear end cover, which is arranged at one end of the housing and fixedly connected to the housing, and the brake assembly is arranged in the rear end cover.

4. The servo motor according to claim 3, characterized in that: The rear end cover is provided with a bearing seat, the bearing seat is installed with a bearing, the bearing has an inner ring and an outer ring, the outer ring is fixedly connected to the bearing seat, the inner ring is rotatably connected to the outer ring, and the rotating shaft passes through the inner ring.

5. The servo motor according to claim 4, characterized in that: The axial end surface of the brake stator is arranged closely against the outer ring.

6. The servo motor according to claim 5, characterized in that: The rear end cover has a front end surface on a side close to the brake stator, and an axial gap between the brake stator and the front end surface is less than or equal to 0.5 mm.

7. The servo motor according to claim 3, 4, 5 or 6, characterized in that: The rear end cover is provided with a mounting sleeve, the mounting sleeve is extended along the axial direction of the rear end cover, and the brake stator is arranged in the mounting sleeve.

8. The servo motor according to claim 7, characterized in that: A radial clearance between the mounting sleeve and the brake stator is less than or equal to 1 mm.

9. The servo motor according to claim 4, 5 or 6, characterized in that: The rear end cover is provided with a rotary transformer, the rotary transformer is sleeved on the rotating shaft, and the rotary transformer is arranged on a side of the bearing seat away from the brake stator.

10. The servo motor according to claim 1, characterized in that: The outer surface of the housing is provided with a plurality of heat dissipation ribs, and the plurality of heat dissipation ribs are arranged at intervals.

11. The servo motor according to claim 1, characterized in that: The rotor assembly also includes a rotor core and a plurality of permanent magnet groups arranged at intervals along the circumference of the rotor core. The rotor core is sleeved on the rotating shaft and arranged corresponding to the stator assembly. The permanent magnet group includes multiple sections of permanent magnets, and the multiple sections of permanent magnets are arranged at intervals along the axial direction of the rotor core.

12. The servo motor according to claim 11, characterized in that: An insulating layer is provided between two adjacent permanent magnets.

13. The servo motor according to claim 2, characterized in that: The stator core includes a plurality of segmented stator cores, and the plurality of segmented stator cores are arranged along the circumferential direction of the stator.

14. The servo motor according to claim 1, characterized in that: The thermally conductive adhesive is epoxy resin AB adhesive, silicone thermally conductive adhesive, polyurethane adhesive, polyurethane thermally conductive and electrically conductive adhesive or thermally conductive silicone grease.

15. An industrial robot, characterized in that: It comprises a robot body and a servo motor as claimed in any one of claims 1 to 14, wherein the servo motor is connected to the robot body, and the servo motor is used to drive the robot body to move.

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