High-reliability collaborative robot joint motor

Abstract

The utility model discloses a high-reliability collaborative robot joint motor which comprises a rotor and a stator arranged outside the rotor. The rotor comprises a rotor hollow shaft and rotor magnetic steel which is adhered to the outer circular wall of the hollow shaft through anaerobic adhesive, and a spiral groove is formed in the outer circular wall of the rotor hollow shaft; the stator comprises a stator iron core arranged outside the rotor magnetic steel, a stator groove is formed in the outer wall of the stator iron core, and a coil support formed through injection molding is embedded in the stator groove; according to the utility model, the spiral groove is arranged on the outer circle wall of the rotor hollow shaft, so that when the rotor hollow shaft is bonded with the rotor magnetic steel, the bonding area and the glue storage amount of the rotor hollow shaft and the rotor magnetic steel are increased, the bonding force of the rotor magnetic steel is greatly improved, the rotor can cope with complex and severe working conditions in the use process of a motor, the reliability of the motor rotor is greatly improved, and the service life of the motor rotor is prolonged. And the situation that the rotor magnetic steel is stressed and falls off when the motor works due to insufficient bonding force possibly caused by direct bonding of the rotor hollow shaft and the rotor magnetic steel at present is avoided.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, specifically a high-reliability collaborative robot joint motor. Background Technology

[0002] The existing motor consists of two parts: a stator and a rotor. The stator is made of silicon steel sheets stacked to form a stator core, and then coils are wound on the stator core or manually wound. The rotor is made of magnets and a hollow shaft, and the magnets are glued to the outer circle of the hollow shaft. The following problems may exist: (1) The motor rotor magnets are directly glued to the outer circle of the rotor hollow shaft, which may cause the rotor magnets to fall off due to insufficient adhesion when the motor is working. (2) The motor stator core is protected by spraying insulating material or padding with insulating paper before winding. Because the protective layer is generally thin, the protective layer may be damaged during winding, the insulation performance of the motor may be destroyed, affecting the normal use of the motor. The production process is also relatively complicated and the process cost is high. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a highly reliable collaborative robot joint motor.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0005] This utility model discloses a high-reliability collaborative robot joint motor, comprising a rotor and a stator disposed outside the rotor; the rotor includes a hollow rotor shaft and a rotor magnet bonded to the outer circular wall of the hollow rotor shaft with anaerobic adhesive, and the outer circular wall of the hollow rotor shaft is provided with a helical groove; the stator includes a stator core disposed outside the rotor magnet, the outer wall of the stator core is provided with a stator slot, a coil support molded by injection molding is embedded in the stator slot, a stator coil is wound on the outer wall of the coil support, and a stator lead wire is connected to the stator coil.

[0006] As a preferred embodiment of this utility model, the coil support is made of boride ceramic material.

[0007] As a preferred embodiment of this utility model, the stator is wound using a high-efficiency machine.

[0008] As a preferred embodiment of this utility model, the stator is made of polytetrafluoroethylene (PTFE) insulation material.

[0009] As a preferred technical solution of this utility model, the robot joint motor further includes a motor housing, and the motor housing is provided with a heat dissipation and cooling mechanism located at the stator for dissipating heat and cooling the stator.

[0010] As a preferred technical solution of this utility model, the heat dissipation and cooling mechanism includes a heat dissipation vent located inside the motor housing and near the stator, an air inlet channel located at the heat dissipation vent and facing the stator inside the motor housing, and an air outlet corresponding to the heat dissipation vent on the motor housing.

[0011] As a preferred technical solution of this utility model, a sealing plate assembly is provided at the air outlet. The sealing plate assembly includes a sealing groove opened at the air outlet. An air outlet channel communicating with the air outlet is provided inside the motor housing. A sealing cover plate is provided at the sealing groove. A plurality of annular and equidistantly distributed guide rods are provided on the inner wall of the sealing cover plate. A guide ring plate matching the air outlet channel is provided at one end of the plurality of guide rods away from the sealing cover plate. A return spring is sleeved on the outside of the plurality of guide rods. A rubber sealing gasket that abuts against the air channel is embedded on the sealing cover plate.

[0012] As a preferred technical solution of this utility model, the motor housing is provided with annular air guide pipes located on both sides of the rotor and stator. The opposite sides of the annular air guide pipes are provided with multiple corresponding heat dissipation holes, and the opposite sides of the annular air guide pipes are respectively connected to the air inlet channel and the air outlet channel.

[0013] As a preferred embodiment of this utility model, a cooling fan is installed at the inner end of the air inlet channel, and other parts inside the air inlet channel are filled with a sponge pad. The sponge pad has an S-shaped air inlet hole inside, and a positioning ring for positioning the sponge pad is provided inside the air inlet channel.

[0014] As a preferred technical solution of this utility model, the outer wall of the motor housing is provided with an air inlet pipe located at the heat dissipation vent. One end of the air inlet pipe is externally threaded with a dust filter screen, and the other end of the air inlet pipe is provided with a positioning plate. The motor housing is provided with a positioning groove located at the heat dissipation vent and matching the positioning plate. The positioning plate is bolted into the positioning groove.

[0015] The beneficial effects of this utility model are:

[0016] 1. This high-reliability collaborative robot joint motor features a spiral groove on the outer wall of the hollow rotor shaft. This increases the bonding area and adhesive storage capacity between the hollow rotor shaft and the rotor magnets during bonding, significantly enhancing the adhesion force of the rotor magnets. This allows the motor to withstand complex and harsh operating conditions, greatly improving rotor reliability and avoiding the potential for insufficient adhesion leading to magnet detachment during operation, which can occur with direct bonding of the hollow rotor shaft and rotor magnets. Furthermore, the stator core incorporates an injection-molded coil support made of boride ceramic material. This high-toughness, high-strength, and high-temperature-resistant material effectively ensures the motor's insulation performance while preventing damage to the insulation layer in the stator slots due to excessive stress during winding. The manufacturing process is also relatively simple, resulting in lower production costs and enhancing product competitiveness.

[0017] 2. The stator of this high-reliability collaborative robot joint motor uses high-efficiency machine winding, which can realize single-strand winding and multi-strand parallel winding. This process can improve the consistency of stator coils and significantly improve the production efficiency of the motor, and also indirectly reduce production costs.

[0018] 3. This type of high-reliability collaborative robot joint motor uses polytetrafluoroethylene insulation material in the stator, and uses enameled wire and insulation materials with a temperature resistance of 180℃ or even higher in the stator. This avoids the situation where the motor burns out due to excessive temperature rise under some overload conditions, allowing the motor to work safely and reliably under more severe operating conditions, thus improving the motor's reliability and service life.

[0019] 4. This type of high-reliability collaborative robot joint motor, through its heat dissipation and cooling mechanism, can dissipate and cool the stator of the motor, avoiding damage to the stator due to excessive temperature, and further improving the safety and reliability of the motor. In this process, cold air enters from the heat dissipation vent and dissipates heat from the stator of the motor under the action of the air intake channel, while the heat generated by the motor operation is carried out from the air outlet.

[0020] 5. In this type of high-reliability collaborative robot, the joint motor drives the cover plate when hot air flows towards the air outlet. This causes the cover plate to move, and the cover plate moves through multiple guide linkages to drive the guide ring plate. The guide ring plate compresses the return spring, allowing the hot air to be discharged from the air outlet. When no hot air flows out, the cover plate closes, preventing dust and other impurities from entering from the air outlet. The rubber sealing gasket provides a good seal, further preventing dust and other impurities from entering from the air outlet.

[0021] 6. The joint motor of this high-reliability collaborative robot, through the provided cooling fan, can drive airflow, allowing external cold air to enter through the cooling vent, and under the action of the air intake channel, enter the annular air guide tube, exit through the cooling holes to dissipate heat from the stator. Hot air enters the interior of another annular air guide tube, and through the air outlet channel, the heat is discharged from the air outlet. The sponge pad can play a dehumidifying role, preventing moisture in the air from entering.

[0022] 7. The joint motor of this highly reliable collaborative robot is equipped with a dust filter cover, which can prevent dust and other impurities from entering the air inlet pipe and causing blockage, thus ensuring the normal operation of the motor. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 This is a schematic diagram of the rotor and stator connection structure of a high-reliability collaborative robot joint motor according to this utility model;

[0025] Figure 2 This is a schematic diagram of the hollow rotor shaft structure of a joint motor for a highly reliable collaborative robot according to this utility model.

[0026] Figure 3 This is a cross-sectional view of the rotor hollow shaft of a high-reliability collaborative robot joint motor according to this utility model.

[0027] Figure 4 This is a cross-sectional view of a high-reliability collaborative robot joint motor according to this utility model;

[0028] Figure 5 This utility model relates to a high-reliability joint motor for collaborative robots. Figure 4 Sectional view at point A in the middle;

[0029] Figure 6 This utility model relates to a high-reliability joint motor for collaborative robots. Figure 4 Sectional view at point B.

[0030] In the diagram: 1. Rotor; 101. Hollow rotor shaft; 102. Rotor magnet; 103. Spiral groove; 2. Stator; 201. Stator core; 202. Stator slot; 203. Coil bracket; 204. Stator coil; 205. Stator lead wire; 3. Motor housing; 4. Heat dissipation and cooling mechanism; 401. Heat dissipation vent; 402. Air inlet channel; 403. Air outlet; 5. Sealing plate assembly; 501. Sealing groove; 502. Air outlet channel; 503. Sealing cover plate; 504. Guide rod; 505. Guide ring plate; 506. Return spring; 507. Rubber sealing gasket; 6. Annular air duct; 7. Heat dissipation hole; 8. Cooling fan; 9. Sponge pad; 10. Air inlet hole; 11. Positioning ring; 12. Air inlet connecting pipe; 13. Dustproof filter screen; 14. Positioning connecting plate; 15. Positioning connecting groove. Detailed Implementation

[0031] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0032] Example: Figure 1 , Figure 2 and Figure 3As shown, this utility model discloses a high-reliability collaborative robot joint motor, comprising a rotor 1 and a stator 2 disposed outside the rotor 1. The rotor 1 includes a hollow rotor shaft 101 and a rotor magnet 102 bonded to the outer circular wall of the hollow rotor shaft 101 with anaerobic adhesive, and the outer circular wall of the hollow rotor shaft 101 is provided with a helical groove 103. The stator 2 includes a stator core 201 disposed outside the rotor magnet 102, the outer wall of the stator core 201 is provided with a stator slot 202, a coil support 203 is embedded in the stator slot 202, a stator coil 204 is wound on the outer wall of the coil support 203, and a stator lead wire 205 is connected to the stator coil 204. By providing a helical groove 103 on the outer circular wall of the hollow rotor shaft 101, the joint between the rotor shaft 101 and the rotor magnet 102 is increased during bonding. The increased bonding area and adhesive storage of the rotor magnet 102 significantly enhance its bonding strength, enabling it to withstand complex and harsh operating conditions during motor use. This greatly improves the reliability of the motor rotor 1 and avoids the potential issue of insufficient bonding strength leading to the rotor magnet 102 detaching under stress during motor operation, which is common with direct bonding between the rotor hollow shaft 101 and the rotor magnet 102. Furthermore, by embedding an injection-molded coil support 203 within the stator slot 202 of the stator core 201, the coil support 203, made of boride ceramic material, utilizes high-toughness, high-strength, and high-temperature resistant materials. This effectively ensures the motor's insulation performance while preventing the insulation layer within the stator slot 202 from being damaged due to excessive stress during winding. The process is also relatively simple and has lower production costs, enhancing the product's competitiveness.

[0033] The coil support 203 is made of boride ceramic material. The coil support 203 is made of high toughness, high strength and high temperature resistance material. While effectively ensuring the insulation performance of the motor, it also avoids the risk of the insulation layer in the stator slot 202 being damaged due to excessive force during winding. At the same time, the process is relatively simple and the production cost is low, which enhances the competitiveness of the product.

[0034] The stator 2 is wound using a high-efficiency machine, which can achieve single-strand winding and multi-strand parallel winding. This process can improve the consistency of the stator coils and significantly improve the production efficiency of the motor, while also indirectly reducing production costs.

[0035] The stator 2 uses polytetrafluoroethylene (PTFE) insulation material. By using PTFE insulation material in the stator 2, and by using enameled wire and insulation materials with a temperature resistance of 180℃ or even higher, the situation of motor overheating and burning out due to excessive temperature rise in some overload conditions is avoided. This allows the motor to work safely and reliably under more severe operating conditions, improving the reliability and service life of the motor.

[0036] Specifically, such as Figure 4 , Figure 5 and Figure 6 As shown, the robot joint motor also includes a motor housing 3. The motor housing 3 is provided with a heat dissipation and cooling mechanism 4 located at the stator 2 for cooling the stator 2. The heat dissipation and cooling mechanism 4 includes a heat dissipation vent 401 located inside the motor housing 3 and close to the stator 2. The motor housing 3 is provided with an air inlet channel 402 located at the heat dissipation vent 401 and facing the stator 2. The motor housing 3 is provided with an air outlet 403 corresponding to the heat dissipation vent 401. Through the heat dissipation and cooling mechanism 4, the stator 2 of the motor can be cooled and cooled, avoiding damage to the stator 2 due to excessive temperature, and further improving the safety and reliability of the motor. In this case, cold air enters from the heat dissipation vent 401 and dissipates heat from the stator 2 under the action of the air inlet channel 402, and the heat generated by the motor operation is carried out from the air outlet 403.

[0037] The air outlet 403 is provided with a sealing plate assembly 5, which includes a sealing groove 501 formed at the air outlet 403. The motor housing 3 has an air outlet channel 502 connected to the air outlet 403 inside. A sealing cover plate 503 is provided at the sealing groove 501. The inner wall of the sealing cover plate 503 has multiple annular and equidistantly distributed guide rods 504. One end of each guide rod 504 away from the sealing cover plate 503 has a guide ring plate 505 that matches the air outlet channel 502. A return spring 506 is sleeved on the outside of each guide rod 504. The sealing cover plate 503 is embedded with... The rubber sealing gasket 507, which abuts against the air duct 501, moves the cover plate 503 when hot air flows towards the air outlet 403. The cover plate 503 moves through multiple guide rods 504, which in turn moves the guide ring plate 505. The guide ring plate 505 compresses the return spring 506, allowing hot air to be discharged from the air outlet 403. When no hot air is flowing out, the cover plate 503 closes, preventing dust and other impurities from entering the air outlet 403. The rubber sealing gasket 507 provides a good seal, further preventing dust and other impurities from entering the air outlet 403.

[0038] The motor housing 3 has annular air ducts 6 located on both sides of the rotor 1 and stator 2. Multiple corresponding heat dissipation holes 7 are opened on opposite sides of the annular air ducts 6. The opposite sides of the annular air ducts 6 are connected to the air inlet channel 402 and the air outlet channel 502, respectively. A cooling fan 8 is installed at the inner end of the air inlet channel 402. Other parts inside the air inlet channel 402 are filled with sponge pads 9. S-shaped air inlet holes 10 are provided inside the sponge pads 9. A positioning ring 11 for positioning the sponge pads 9 is provided inside the air inlet channel 402. The cooling fan 8 drives airflow, allowing external cold air to enter through the cooling vent 401 and, under the action of the air inlet channel 402, enter the annular air ducts 6, exit through the cooling holes 7, and dissipate heat from the stator 2. Hot air enters the other annular air duct 6 and is discharged through the air outlet channel 502 from the air outlet 403. The sponge pads 9 also dehumidify, preventing moisture from entering the air.

[0039] The outer wall of the motor housing 3 is provided with an air inlet pipe 12 located at the heat dissipation vent 401. One end of the air inlet pipe 12 is externally threaded with a dust filter screen 13, and the other end of the air inlet pipe 12 is provided with a positioning plate 14. The motor housing 3 is provided with a positioning groove 15 located at the heat dissipation vent 401 and matching the positioning plate 14. The positioning plate 14 is bolted into the positioning groove 15. The dust filter screen 13 can prevent dust and other impurities from entering the air inlet pipe 12 and causing blockage, thus ensuring the normal use of the motor.

[0040] During operation, this high-reliability collaborative robot joint motor, through the spiral groove 103 on the outer circular wall of the rotor hollow shaft 101, increases the bonding area and adhesive storage capacity between the rotor hollow shaft 101 and the rotor magnet 102, significantly improving the bonding force of the rotor magnet 102. This allows it to cope with complex and harsh working conditions during motor use, greatly improving the reliability of the motor rotor 1 and avoiding the situation where insufficient bonding force may lead to the rotor magnet 102 detaching under stress during motor operation, which is currently possible with direct bonding of the rotor hollow shaft 101 and the rotor magnet 102. Furthermore, by embedding an injection-molded coil support 203 in the stator slot 202 of the stator core 201, the coil support 203 is made of boride ceramic material, which is made of high-toughness, high-strength, and high-temperature resistant material. While effectively ensuring the insulation performance of the motor, it also avoids the risk of the insulation layer inside the stator slot 202 being damaged due to excessive force during winding. At the same time, the process is relatively simple and the production cost is low, which enhances the competitiveness of the product. The stator 2 adopts high-efficiency machine winding, which can realize single winding and multi-strand parallel winding. This process method can improve the consistency of the stator coil and significantly improve the production efficiency of the motor, which also indirectly reduces the production cost. By using polytetrafluoroethylene insulation material in the stator 2, and using enameled wire and insulation materials with a temperature resistance of 180℃ or even higher, it avoids the situation where the motor burns out due to excessive temperature rise under some overload conditions. It can make the motor work safely and reliably under more severe operating conditions, improve the reliability of the motor, and extend the service life of the motor.

[0041] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A high-reliability collaborative robot joint motor, characterized by, The rotor (1) and the stator (2) arranged outside the rotor (1); The rotor (1) comprises a rotor hollow shaft (101) and rotor magnetic steel (102) which is adhered to the outer wall of the hollow shaft (101) by anaerobic adhesive, and the outer wall of the rotor hollow shaft (101) is provided with a spiral groove (103); The stator (2) comprises a stator core (201) arranged outside the rotor magnetic steel (102), the outer wall of the stator core (201) is provided with a stator slot (202), the stator slot (202) is embedded with an injection molded coil support (203), the outer wall of the coil support (203) is wound with a stator coil (204), and the stator coil (204) is connected with a stator lead-out wire (205).

2. The high-reliability collaborative robot joint motor of claim 1, wherein, The coil support (203) is made of boride ceramic material.

3. The high-reliability collaborative robot joint motor of claim 1, wherein, The stator (2) is wound by a high-efficiency machine.

4. The high-reliability collaborative robot joint motor of claim 1, wherein, The stator (2) uses polytetrafluoroethylene as an insulating material.

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