Explosion-proof high-torque-density joint motor
By adopting an integrated plate structure and hybrid flux method in high-torque joint motors, combined with amorphous alloy materials and hairpin flat copper wire windings, the problems of poor explosion-proof performance of motor housings and single flux method are solved, achieving high explosion-proof and high power density motor performance.
Patent Information
- Application Number
- CN202423269233.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-12-16
- Estimated Expiration
- 2034-12-30
AI Technical Summary
Traditional high-torque joint motors have poor explosion-proof motor housings and can only select one magnetic flux method, resulting in insufficient high torque or high power output.
The outer shell adopts an integrated plate structure, combines axial and radial magnetic flux methods, and uses amorphous alloy materials and hairpin flat copper wire windings to form an integral permanent magnet ring, which uses the principle of electromagnetic induction to control the rotor rotation.
It improves the explosion-proof capability and power density of the motor, reduces the heat generation of the iron core and material costs, and enhances the output torque and heat dissipation efficiency of the motor.
Smart Images
Figure CN223680842U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to servo motor technical field, concretely relates to a kind of explosion-proof high-torque density joint motor. BACKGROUND
[0002] Large-torque joint motor belongs to new brushless servo motor, and is often used in joint part of bionic robot needing large torque, and is generally composed of fixed axial or radial stator coil and rotatable permanent magnet rotor.
[0003] The rotor of conventional large-torque joint motor is arranged with N-S symmetrical permanent magnet, and in order to improve its torque and power density, the usual practice is to increase stator current intensity, which inevitably causes motor temperature rise to be too high, and in order to better dissipate heat, motor shell is often made into openwork heat dissipation type, which increases the difficulty of motor explosion-proof design, and motor is difficult to use in environment with explosion-proof requirement;In addition, the stator coil of conventional joint motor will select one of axial flux or radial flux, and axial flux or radial flux has its advantages and disadvantages, and in order to meet the comprehensive high performance of motor in torque, power and speed, the application proposes a kind of explosion-proof high-torque density joint motor, which combines the two modes to meet the comprehensive high performance requirements of motor. SUMMARY
[0004] The technical problem to be solved by the utility model is that the motor shell of current large-torque joint motor is often made into openwork heat dissipation type, and its explosion-proof effect is poor, and axial flux and radial flux can only be selected, resulting in insufficient motor in high-torque output or high-power output.
[0005] To solve the above technical problems, the technical scheme provided by the utility model is a kind of explosion-proof high-torque density joint motor, which comprises an outer shell and a rotor, wherein the rotor is rotatably connected to the middle of the outer shell, the outer shell is spliced by a buckle cover and a buckle plate, and the buckle cover and the buckle plate are both integral plate structures, radial flux coils are arranged at the edge of the inner side of the outer shell, axial flux coils are arranged at the side of the rotor on both sides of the inner shell, radial permanent magnets are arranged at the outer side of the rotor close to the radial flux coils, and axial permanent magnets are arranged at the axial flux coils on both sides of the rotor.
[0006] As a preferred technical scheme of the utility model, the buckle plate is located on one side of the rotor, and the buckle cover wraps the outer side of the radial flux coil and the rotor.
[0007] As a preferred technical scheme of the utility model, the both ends of the rotor are rotatably connected to the outer shell through bearings, and the output gear is connected to one side of the rotor located on the buckle plate.
[0008] As a preferred technical scheme of the utility model, the rotor is provided with an extension frame with T-shaped structure in cross section on the outer side, wherein the axial magnetic flux coil is located on the inner side of the extension frame, the axial permanent magnet is located on both sides of the T-shaped structure of the extension frame, the radial permanent magnet is located on the outer side of the top of the T-shaped structure of the extension frame, and the radial magnetic flux coil is located on the outer side of the T-shaped structure of the extension frame.
[0009] As a preferred technical scheme of the utility model, the radial magnetic flux coil and the axial magnetic flux coil adopt an integrated rotary magnetization structure of ←↖↑↗→ to form an integral permanent magnet ring.
[0010] As a preferred technical scheme of the utility model, the radial magnetic flux coil and the axial magnetic flux coil are both composed of an iron core and a stator winding, wherein the stator winding is wound on the outer side of the iron core, the iron core is made of amorphous alloy material, and the stator winding is composed of hairpin-shaped flat copper wire.
[0011] As a preferred technical scheme of the utility model, the outer side of the iron core is provided with an encoder.
[0012] Compared with the prior art, the utility model has the advantages of:
[0013] 1. The joint motor is made of amorphous alloy material to reduce the iron loss by more than 70%, effectively reduce the heat generation of the iron core, and has low heat dissipation demand, so that the shell body can be made of an integral plate structure, has good sealing effect and good explosion-proof capacity; at the same time, the new hairpin-shaped flat copper wire is used to form the winding, improve the stator full slot rate, improve the power density, and have a wider high efficiency area; due to the smaller internal gap, the heat dissipation is faster, and the temperature rise is reduced by 10% than the traditional round wire winding; the copper amount at the end is reduced, the volume is effectively reduced, and the material cost is reduced.
[0014] 2. The joint motor proposes an axial-radial hybrid magnetic flux structure, fully utilizes the diameter area and axial length size of the motor, arranges one radial magnetic flux and two axial magnetic fluxes in the limited space, and makes the motor have the advantages of two kinds of magnetic flux modes; and the magnetic field does not adopt the N-S symmetrical arrangement of multiple permanent magnets, but adopts the integrated rotary magnetization processing mode of ←↖↑↗→ to form an integral permanent magnet ring, and the magnetic field strength is 1.5 times that of the traditional N-S symmetrical arrangement, so that the output torque of the motor can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS
[0015] Fig. 1 It is an external three-dimensional structure diagram of the explosion-proof high-torque density joint motor of the utility model.
[0016] Fig. 2 It is an explosion structure diagram of the explosion-proof high-torque density joint motor of the utility model.
[0017] Fig. 3 A cross section perspective view of the explosion-proof high-torque density joint motor.
[0018] As shown in the drawings:
[0019] 1, the shell; 2, rotor; 3, buckle cover; 4, buckle plate; 5, radial flux coil; 6, axial flux coil; 7, radial permanent magnet; 8, axial permanent magnet; 9, bearing; 10, output gear; 11, extension frame; 12, core; 13, stator winding; 14, encoder. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.
[0021] In the description of the utility model, it should be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.
[0022] Embodiment 1:
[0023] As shown in the description accompanying drawings Figs. 1-3 An explosion-proof high-torque density joint motor, as shown in the drawings, comprises a shell 1 and a rotor 2, wherein the rotor 2 is rotatably connected with the middle of the shell 1, the shell 1 is spliced by a buckle cover 3 and a buckle plate 4, and the buckle cover 3 and the buckle plate 4 are both integral plate structures, the buckle plate 4 is located on one side of the rotor 2, both ends of the rotor 2 are rotatably connected with the shell 1 through bearings 9, and the rotor 2 is connected with an output gear 10 on one side of the buckle plate 4.
[0024] In the embodiment, the outer side of the joint motor is wrapped by the integral plate structure, thereby effectively increasing the explosion-proof capability of the shell 1, so that the motor reaches the explosion-proof standard.
[0025] In the utility model, the inside edge of the buckle cover 3 in the outer shell 1 is provided with a radial magnetic flux coil 5, the two sides in the outer shell 1 are provided with axial magnetic flux coils 6 on the side of the rotor 2, the outside of the rotor 2 is provided with radial permanent magnets 7 close to the radial magnetic flux coil 5, the two sides of the rotor 2 are provided with axial permanent magnets 8 on the axial magnetic flux coil 6, and the outside of the rotor 2 is provided with an extension frame 11 with T-shaped structure, wherein the axial magnetic flux coil 6 is located on the inside of the extension frame 11, the axial permanent magnet 8 is located on the two sides of the T-shaped structure of the extension frame 11, the radial permanent magnet 7 is located on the outside of the top of the T-shaped structure of the extension frame 11, and the radial magnetic flux coil 5 is located on the outside of the T-shaped structure of the extension frame 11.
[0026] In the embodiment, an axial-radial hybrid magnetic flux structure is adopted, the diameter area and axial length dimension of the motor are fully utilized, one radial magnetic flux, two axial magnetic fluxes, a total of three stator coils are arranged in the limited space, and the motor simultaneously has the advantages of the two magnetic flux modes.
[0027] In the utility model, the radial magnetic flux coil 5 and the axial magnetic flux coil 6 adopt an integrated rotary magnetizing structure to form a whole permanent magnet ring, and the radial magnetic flux coil 5 and the axial magnetic flux coil 6 are both composed of an iron core 12 and a stator winding 13, wherein the stator winding 13 is wound on the outside of the iron core 12, the iron core 12 is made of amorphous alloy material, the stator winding 13 is composed of hairpin-shaped flat copper wire, and the outside of the iron core 12 is provided with an encoder 14.
[0028] In the embodiment, the integrated rotary magnetizing processing mode is adopted to form a whole permanent magnet ring, the magnetic field intensity of the whole permanent magnet ring is 1.5 times that of a traditional N-S symmetrical arrangement, the output torque of the motor can be effectively improved, in addition, the iron core 12 is made of amorphous alloy material, the iron loss can be reduced by more than 70%, the heat emission of the iron core 12 can be effectively reduced, and a basic condition is provided for the three-stator motor; meanwhile, the stator full slot rate is improved by adopting the hairpin-shaped flat copper wire to form the winding, the power density is improved, a wider high-efficiency area is provided, the internal gap is smaller, heat dissipation is faster, the temperature rise is reduced by 10% compared with a traditional round wire winding, the copper amount at the end is reduced, the volume can be effectively reduced, and the material cost is reduced.
[0029] In the utility model, when the radial magnetic flux coil 5 and the axial magnetic flux coil 6 are electrified, according to the electromagnetic induction principle, the electrified coil can generate an alternating magnetic field, the magnetic field interacts with the magnetic field of the radial permanent magnet 7 and the axial permanent magnet 8 on the rotor 2 to generate an ampere force, the rotor 2 is pushed to rotate, and through the cooperation of the encoder 14 and the external stator winding 13 current controller, the rotating speed, rotating position, output torque and other parameters of the motor can be accurately controlled, and the joint motor is used.
[0030] The above has described the utility model and its implementation mode, and this description is not restrictive, and the specific implementation mode shown is only one of the implementation modes of the utility model, and the actual structure is not limited thereto. In summary, if a person skilled in the art is inspired thereby, without departing from the creative purpose of the utility model, similar structural modes and embodiments are not creatively designed, which should belong to the protection scope of the utility model.
Claims
1. An explosion-proof high-torque density joint motor comprising an outer housing (1) and a rotor (2), wherein the rotor (2) is rotatably connected to the outer housing (1), characterized in that: The outer shell (1) is spliced by the buckle cover (3) and the buckle plate (4), and the buckle cover (3) and the buckle plate (4) are integral plate structures, the edge of the inner side of the outer shell (1) is provided with a radial magnetic flux coil (5), the two sides in the outer shell (1) are located on the side of the rotor (2) and are provided with an axial magnetic flux coil (6), the outside of the rotor (2) is located near the radial magnetic flux coil (5) and is provided with a radial permanent magnet (7), and the two sides of the rotor (2) are located at the axial magnetic flux coil (6) and are provided with an axial permanent magnet (8).
2. The explosion-proof high-torque density joint motor according to claim 1, characterized in that: The buckle plate (4) is located on one side of the rotor (2), and the buckle cover (3) is wrapped on the outer side of the radial magnetic flux coil (5) and the rotor (2).
3. The explosion-proof high-torque density joint motor of claim 1, wherein: The two ends of the rotor (2) and the outer shell (1) are rotatably connected through bearings (9), and the rotor (2) is connected with an output gear (10) on one side of the buckle plate (4).
4. The explosion-proof high-torque density joint motor of claim 1, wherein: The outer side of the rotor (2) is provided with an extension frame (11) with a T-shaped structure, wherein the axial magnetic flux coil (6) is located on the inner side of the extension frame (11), the axial permanent magnet (8) is located on the two sides of the T-shaped structure of the extension frame (11), the radial permanent magnet (7) is located on the outer side of the top of the T-shaped structure of the extension frame (11), and the radial magnetic flux coil (5) is located on the outer side of the T-shaped structure of the extension frame (11).
5. The explosion-proof high-torque density joint motor of claim 1, wherein: The radial magnetic flux coil (5) and the axial magnetic flux coil (6) adopt an integrated rotary magnetization structure of ←↖↑↗→ to form a whole permanent magnet ring.
6. The explosion-proof high-torque density joint motor of claim 1, wherein: The radial magnetic flux coil (5) and the axial magnetic flux coil (6) are composed of an iron core (12) and a stator winding (13), wherein the stator winding (13) is wound on the outer side of the iron core (12), the iron core (12) is a non-crystalline alloy material, and the stator winding (13) is composed of hairpin flat copper wire.
7. A flameproof high torque density joint motor according to claim 6, characterized in that: The outer side of the iron core (12) is provided with an encoder (14).