Driving control device

Abstract

The utility model discloses a drive control device which comprises a shell part, a drive part, a harmonic speed reduction assembly and an output part. The shell part is in an inner and outer barrel shape and comprises a pipe body part of an outer wall part and a middle shaft part of an inner wall part, the radially arranged isolation plate is arranged between the pipe body part and the middle shaft part and divides an inner cavity of the shell part into an upper cavity and a lower cavity, the end cover is fixedly connected with the lower end of the pipe body part, the end cover is provided with an opening, and the opening is communicated with the lower cavity and the outside of the end cover; the driving part is arranged in the upper cavity and comprises a stator and a rotor, the stator is matched with the rotor, the stator is fixed to the shell part through a mounting base, the rotor and the rotating shaft are fixedly connected or are of an integrated structure, and the rotating shaft can rotate relative to the shell part; the harmonic speed reduction assembly comprises a fixing part, a wave generator, a flexible gear and a rigid gear, the fixing part and the rotating shaft are fixedly connected or are of an integrated structure, the output component comprises a flange, the flange is fixedly connected with the rigid gear, the flange is used for being connected with an external execution unit, and the heat dissipation performance of the driving control device can be improved.

Description

Technical Field

[0001] This invention belongs to the field of power transmission technology, and particularly relates to a drive control device. Background Technology

[0002] Drive control devices have a wide range of applications. In recent years, some drive control devices with high-precision control have been developed and applied to the transmission control systems of new energy vehicles, intelligent robots, and other applications. For example, robot joints utilize drive control devices with harmonic reduction components.

[0003] To meet the need for flexibility in robot joints, a drive control device for weight reduction and compact structure is disclosed in published patent document CN216185586U. In the prior art, as the working time increases, heat accumulates continuously, and the increase in temperature causes nonlinear changes in the motor output characteristics, which makes stable control very difficult. At the same time, when the temperature reaches a certain value, it will cause the motor to demagnetize.

[0004] Therefore, how to improve the heat dissipation of the drive control device is an issue that needs to be addressed by those skilled in the art. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a drive control device, the technical solution of which is as follows:

[0006] Includes housing components, drive components, harmonic reduction gear components, and output components;

[0007] The shell component has an inner and outer cylindrical structure, including a tube part as the outer wall and a central axis part as the inner wall. A radially arranged partition plate is disposed between the tube part and the central axis part and divides the inner cavity of the shell component into an upper cavity and a lower cavity. The end cap is fixedly connected to the lower end of the tube part and has an opening that connects the lower cavity to the outside of the end cap.

[0008] The drive component is located in the upper cavity and includes a stator and a rotor. The stator and rotor are adapted to each other. The stator is fixed to the housing component by a mounting base. The rotor is fixedly connected to the rotating shaft or is an integral structure. The rotating shaft can rotate relative to the housing component.

[0009] The harmonic deceleration assembly includes a fixed part, a wave generator, a flexible wheel, and a rigid wheel. The fixed part is fixedly connected to the rotating shaft or is an integral structure. The wave generator cooperates with the fixed part. The combination of the wave generator, the flexible wheel, and the rigid wheel achieves a precise deceleration effect.

[0010] The output component includes a flange, which is fixedly connected to the rigid wheel and is used for fixed connection with an external actuator.

[0011] As an optional structure, the mounting base of the flex wheel or drive component of the harmonic reduction assembly divides the upper cavity into an inner cavity and an outer cavity. The cavity wall of the inner cavity includes at least a portion of the tube wall of the rotor and at least a portion of the tube wall of the central shaft portion of the housing component; the outer cavity includes at least a portion of the tube wall of the tube body portion.

[0012] As an optional structure, the hollow component, as a cover covering the central area, can be fixedly connected to the flange as part of the output component, or it can be fixedly connected to the central shaft as part of the housing component.

[0013] Furthermore, it also includes a support member and a flow guide member. The support member is sleeved on the central shaft and fixedly connected to the housing component. The support member is provided with a first connecting channel. The isolation plate has a second connecting channel. The first connecting channel connects the inner cavity and the second connecting channel, and the second connecting channel connects the lower cavity. The flow guide member is provided on the rotating shaft and can rotate with the rotating shaft. The central shaft is provided with a third connecting channel, which connects the inner cavity of the upper cavity and the external environment of the central shaft.

[0014] Furthermore, the support member is also provided with a fourth connecting channel, which is connected to the first connecting channel and to the outer cavity of the upper cavity;

[0015] Furthermore, the support member is a columnar structure with a central hole, and the outer edge includes a stepped portion. The support member is sleeved on the central axis portion and abuts against the isolation plate. The columnar structure has four radially symmetrically arranged radial through slots. The columnar structure has an inner stepped hole at the bottom. The inner stepped hole covers the third connecting channel. The radial through slots communicate with the inner stepped hole. Part of the radial through slots cooperates with the inner stepped hole to serve as the first connecting channel. Part of the radial through slots also serves as the fourth connecting channel.

[0016] The flow guide is specifically an annular cylindrical structure formed by metal stamping, including a body and several blades formed by stamping and bending from the body towards the center. The body and the inner wall of the rotating shaft are fixed by laser welding. When the drive control device is working, the rotating shaft drives the blades to achieve the function of heat dissipation.

[0017] As a further extension of the above technical solution, the blade has a guide angle (not shown in the figure), which can guide the air fluid in the upper chamber to the lower chamber.

[0018] As a further extension of the above technical solution, the tube body is provided with several inlets, which are distributed at intervals along the circumference of the tube body. The inlets connect the outer cavity with the external environment of the tube body. This creates another fluid flow path in the outer cavity, which can quickly dissipate heat.

[0019] like Figure 7 As shown and combined Figure 1As a further extension of the present invention, the drive control device also includes a control circuit board, which is disposed in the lower cavity. The isolation plate has several outwardly protruding portions on the side facing the lower cavity. These protrusions serve as mounting portions for the circuit board, which can be fixed to them with fasteners. At least some of the protrusions extend radially and are not connected to the tube body. Along the axial direction of the tube body, the projection of the control circuit board does not cover, or does not completely cover, the projection of the heat dissipation channel. This creates an open isolation space between the control circuit board and the cavity wall of the isolation plate, preventing heat from the upper cavity from being directly transferred to the control circuit board through the isolation plate, thus avoiding impact on the stability of the control circuit board's operation. Simultaneously, the airflow from the second connecting channel into the lower cavity can carry away some heat after passing through this isolation space.

[0020] As a further extension of the above technical solution, the outer edge of the isolation plate near the tube body is provided with several heat dissipation channels, which can also achieve rapid heat dissipation.

[0021] Beneficial effects

[0022] By setting up heat conduction channels, the heat dissipation effect of the drive control device is improved, thereby enhancing its operational stability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a drive control device provided by the present invention;

[0024] Figure 2 This is an enlarged schematic diagram of a portion of the drive control device;

[0025] Figure 3(a) Front view of the support base; Figure 3(b) Top view of the support base;

[0026] Figure 4(a) Top view of the guide vane, Figure 4(b) Bottom view of the guide vane;

[0027] Figure 5(a) is a front view of another support base according to an embodiment of the present invention, and Figure 5(b) is a top view of another support base according to an embodiment of the present invention;

[0028] Figure 6(a) is a top view of another flow guide according to an embodiment of the present invention, and Figure 6(b) is a bottom view of another flow guide according to an embodiment of the present invention;

[0029] Figure 7 This is a bottom view of the housing component according to an embodiment of the present invention.

[0030] Wherein: 100-Housing component, 110-Tube body, 111-Inlet, 120-Isolation plate, 121-Second connecting channel, 122-Heat dissipation channel, 130-Circuit board mounting part, 140-Central shaft part, 141-Third connecting channel, 150-End cover, 160-Upper cavity, 161-Inner cavity, 162-Outer cavity, 170-Lower cavity, 171-Isolation space, 200-Drive component, 210-Stator, 220-Rotor, 230-Shaft, 240-Mounting base, 300-Harmonic reduction assembly, 3 10-Fixed part, 320-Wave generator, 330-Flexible wheel, 340-Rigid wheel, 400-Output component, 410-Flange, 500-Control circuit board, 600-Hollow tube, 700 / 700A-Support component, 710-First connecting channel, 720-Fourth connecting channel, 730-Stepped part, 740-Radial through groove, 750-Inner stepped hole, 760-Notch, 770-Radial through groove, 800 / 800A-Guide component, 810 / 810A-Body part, 820 / 820A-Blade. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0032] like Figure 1 The diagram shows an embodiment of the drive control device provided by the present invention, which can be used as a joint drive device for a robot. It includes a housing component 100, a drive component 200, a harmonic deceleration assembly 300, and an output component 400. The housing component 100 has an inner and outer cylindrical structure, including a tubular portion 110 as the outer wall and a central axis portion 140 as the inner wall. A radially arranged partition plate 120 is disposed between the tubular portion 110 and the central axis portion 140, dividing the inner cavity of the housing component 100 into an upper cavity 160 and a lower cavity 170. An end cap 150 is fixedly connected to the lower end of the tubular portion 110, and the end cap 150 has an opening 151 that connects the lower cavity 170 to the external environment of the end cap 150.

[0033] The drive component 200 is disposed in the upper cavity and includes a stator 210 and a rotor 220, with the stator 210 and rotor 220 being adapted to each other. The stator 210 is fixed to the housing component 100 via a mounting base 240. The rotor 220 is fixedly connected to or integrally formed with a rotating shaft 230, which is rotatable relative to the housing component 100.

[0034] The harmonic reduction gear assembly 300 includes a fixed part 310, a wave generator 320, a flexible wheel 330, and a rigid wheel 340. The fixed part 310 is fixedly connected to the rotating shaft 230 or is an integral structure. The wave generator 320 cooperates with the fixed part. The combination of the wave generator 320, the flexible wheel 330, and the rigid wheel 340 achieves a precision reduction effect. The output component 400 includes a flange 410.

[0035] Flange 410 is fixedly connected to rigid wheel 340. Flange 410 is used for fixed connection with external actuators.

[0036] As an optional structure, the flexible wheel 330 of the harmonic reduction assembly 300 or the mounting base 240 of the drive component 200 divides the upper cavity 160 into an inner cavity 161 and an outer cavity 162. The cavity wall of the inner cavity 161 includes at least a portion of the tube wall of the rotor 220 and at least a portion of the tube wall of the central shaft portion 140 of the housing component 100; the outer cavity includes at least a portion of the tube wall of the tube body portion 110.

[0037] As an optional structure, the hollow part 600, as a cover covering the central area, can be fixedly connected to the flange 410 as part of the output component, or it can be fixedly connected to the central shaft part 140 as part of the housing component.

[0038] like Figure 2 As shown in Figures 3 and 4, this specific embodiment also includes a support member 700 and a flow guide member 800. The support member 700 is sleeved on the central shaft 140 and fixedly connected to the housing component 100. The support member 700 is provided with a first connecting channel 710, and the isolation plate 120 has a second connecting channel 121. The first connecting channel 710 connects the inner cavity 161 and the second connecting channel 121, and the second connecting channel 121 connects the lower cavity 170. The flow guide member 800 is disposed on the rotating shaft 230 and can rotate together with the rotating shaft 230. The central shaft portion 140 is provided with a third connecting channel 141, which connects the inner cavity 161 of the upper cavity 160 and the external environment of the central shaft portion 140.

[0039] The embodiments of the present invention provide technical solutions, such as... Figure 2 Figure 3(b), Figure 5(b) Figure 7 As can be seen, the first connecting channel 710, the second connecting channel 121, and the third connecting channel 141 constitute a fluid circulation path. Through the rotation of the guide component, the heat in the inner cavity 161 can be quickly transferred to the external environment, which improves the heat dissipation performance of the inner cavity of the drive control device and enhances the stability of the product.

[0040] As a further extension of the technical solution, the support member 700 is also provided with a fourth connecting channel 720. The fourth connecting channel 720 is connected to the first connecting channel 710 and to the outer cavity 162 of the upper cavity 160. This solution can improve the heat dissipation performance of the outer cavity of the drive control device and further improve the stability of the product.

[0041] As one specific embodiment, as shown in Figure 3, the support member 700 is a columnar structure with a central hole, and its outer edge includes a stepped portion 730. The support member 700 is fitted onto the central shaft portion 140 and abuts against the partition plate 120. The columnar structure has four radially symmetrically arranged radial through slots 740, and an inner stepped hole 750 is formed at the bottom of the columnar structure, covering the third connecting channel 141. The radial through slots 740 communicate with the inner stepped hole 750. A portion of the radial through slots 740 cooperates with the inner stepped hole 750 to form a first connecting channel 710, and a portion of the radial through slots 740 also serves as a fourth connecting channel 720. This structure is simple to manufacture, and the fluid channel is relatively smooth.

[0042] As shown in Figure 4, the guide component 800 is specifically an annular cylindrical structure formed by metal stamping, including a body portion 810 and several blades 820 formed by stamping and bending from the body portion 810 towards the center. The body portion 810 is fixed to the inner wall of the rotating shaft 230 by laser welding. When the drive control device is working, the rotating shaft 230 drives the blades 820 to achieve the function of heat dissipation. This structure is simple to manufacture and does not require additional power or control.

[0043] As shown in Figure 5, as an alternative to the support base, the support member 700A is a columnar structure with a central hole, and its outer edge includes a stepped portion 730A. The support member 700A is fitted onto the central shaft portion 140 and abuts against the partition plate 120. Four axially symmetrically arranged notches 760 are radially formed in the central hole, and a radial through groove 770 is formed at the bottom of the columnar structure, covering the third connecting channel 141. The axial notches 760 communicate with the radial through grooves 770. The axial notches 760 serve as the first connecting channel 710, and the radial through grooves 770 serve as the fourth connecting channel 720.

[0044] As shown in Figure 6, as an alternative to the flow guide, the flow guide 800A is specifically a thin sheet structure formed by metal stamping, including a radially extending circular body portion 810A and several blades 820A formed by axial stamping and bending from the body portion 810A. The body portion 810A is fixed to the end wall of the rotating shaft 230 by laser welding. When the drive control device is working, the rotating shaft 230 drives the blades 820A, which also achieves the function of heat dissipation.

[0045] As a further extension of the above technical solution, the blade 820 / 800A has a guide angle (not shown in the figure), which can guide the air fluid in the upper cavity 160 to the lower cavity 170.

[0046] As a further extension of the above technical solution, the tube body 110 is provided with several inlets 111, which are distributed at intervals along the circumference of the tube body 110. The inlets 111 connect the outer cavity 162 with the external environment of the tube body 110. This creates another fluid flow path in the outer cavity, which can quickly dissipate heat.

[0047] like Figure 7 As shown and combined Figure 1 As a further extension of the present invention, the drive control device also includes a control circuit board 500, which is disposed in the lower cavity 170. The isolation plate 120 has several outwardly protruding portions on the side facing the lower cavity 170, which serve as circuit board mounting portions 130. The circuit board 500 can be fixed to the circuit board mounting portion 130 by fasteners, and at least part of the protrusions extends radially and is not connected to the tube body portion 110. Along the axial direction of the tube body portion 110, the projection of the control circuit board 500 does not cover or does not completely cover the projection of the heat dissipation channel 122. Thus, an open isolation space 171 is formed between the control circuit board 500 and the cavity wall of the isolation plate 120, preventing heat in the upper cavity from being directly transferred to the control circuit board 500 through the isolation plate 120, thus avoiding affecting the working stability of the control circuit board 500. Simultaneously, the airflow flowing into the lower cavity from the second connecting channel 121 can carry away some heat after passing through this isolation space 171.

[0048] As a further extension of the above technical solution, the outer edge of the isolation plate 120 near the tube body 110 is provided with several heat dissipation channels 122, which can also achieve rapid heat dissipation.

Claims

1. A drive control device, comprising a housing component, a drive component, a harmonic reducer assembly and an output component; the housing component is an inner-outer cylindrical structure, comprising a tube part as an outer wall part and a central shaft part as an inner wall part, a partition plate arranged radially is arranged between the tube part and the central shaft part and separates the inner cavity of the housing component into an upper cavity and a lower cavity, an end cover is fixedly connected with the lower end of the tube part, the end cover has an opening, and the opening communicates the lower cavity with the outside of the end cover; the drive component is arranged in the upper cavity and comprises a stator and a rotor, the stator is adapted to the rotor, the stator is fixed to the housing component through a mounting seat, and the rotor is fixedly connected with a rotating shaft or is an integral structure, and the rotating shaft can rotate relative to the housing component; the harmonic reducer assembly comprises a fixed part, a wave generator, a flexspline and a rigid wheel, the fixed part is fixedly connected with the rotating shaft or is an integral structure, the wave generator cooperates with the fixed part, and the wave generator, the flexspline and the rigid wheel are combined to realize precise reduction effect; the output component comprises a flange, the flange is fixedly connected with the rigid wheel, and the flange is used for fixedly connecting with an external execution unit; the flexspline of the harmonic reducer assembly or the mounting seat of the drive component separates the upper cavity into an inner cavity and an outer cavity, the cavity wall of the inner cavity comprises part of the tube wall of the rotor and part of the tube wall of the central shaft part of the housing component, and the outer cavity comprises part of the tube wall of the tube part; a hollow part is fixedly connected with the flange as part of the output component and is fixedly connected with the central shaft part as part of the housing component as a covering part covering the central area; characterized in that further comprising a support part and a flow guide part, the support part is sleeved on the central shaft and is fixedly connected with the housing component, the support part is provided with a first communication channel, the partition plate is provided with a second communication channel, the first communication channel communicates the inner cavity with the second communication channel, and the second communication channel communicates the lower cavity; the flow guide part is arranged on the rotating shaft and can rotate together with the rotating shaft; the central shaft part is provided with a third communication channel, and the third communication channel communicates the inner cavity of the upper cavity with the external environment of the central shaft part; the support part is further provided with a fourth communication channel, the fourth communication channel communicates with the first communication channel, and the fourth communication channel communicates with the outer cavity of the upper cavity; the support part is a columnar structure with a central hole, an outer edge comprises a stepped part, the support part is sleeved on the central shaft part and abuts against the partition plate, the columnar structure is provided with four radially arranged radial through grooves in the radial direction, the columnar structure is provided with an inner stepped hole at the bottom, the inner stepped hole covers the third communication channel, the radial through grooves communicate with the inner stepped hole, part of the radial through grooves cooperates with the inner stepped hole as the first communication channel, and part of the radial through grooves serves as the fourth communication channel.

2. The apparatus of claim 1, wherein, the flow guide part is a ring-shaped cylindrical structure formed by metal stamping, comprising a body part and a plurality of blades formed by stamping and bending from the body part towards the center, the body part is fixedly connected with the inner wall surface of the rotating shaft through laser welding, and the rotating shaft drives the blades when the drive control device works.

3. The apparatus of claim 2, wherein, the blades have a flow guide angle, and the flow guide angle can guide the air flow in the upper cavity to the lower cavity.

4. The apparatus of claim 1, wherein, the tube part is provided with a plurality of inflow openings, which are distributed at intervals along the circumference of the tube part, and the inflow openings communicate the outer cavity with the outside of the tube part.

5. The apparatus of claim 1, wherein, The driving control device further comprises a control circuit board, the control circuit board is arranged in the lower cavity, the side of the isolation plate facing the lower cavity is provided with a plurality of outward protruding protrusions, the protrusions are used as circuit board mounting portions, the circuit board is fixed on the circuit board mounting portions through fasteners, part of the protrusions extend in a radial direction and are not connected with the pipe body portion, in the axial direction of the pipe body portion, the projection of the control circuit board does not cover the projection.

6. The apparatus of claim 5, wherein, The outer edge of the isolation plate close to the pipe body portion is provided with a plurality of heat dissipation channels.

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