Oil cooling joint module

Abstract

The utility model relates to an oil cooling joint module which comprises a motor and a harmonic reducer fixed at one end of the motor, the motor drives the harmonic reducer to rotate, the motor comprises a shell, a stator assembly and a rotor assembly, a bottom plate and a rear end cover are arranged at the two ends of the shell respectively, and the shell comprises an outer shell A and an inner oil cavity arranged on the inner side of the outer shell A; a first oil port and a second oil port are formed in the two ends of the inner oil cavity correspondingly, the stator assembly is fixed to the inner side of the inner oil cavity, the rotor assembly is arranged in the stator assembly, one end of the rotor assembly is rotationally connected with the bottom plate, and the rotor assembly comprises a rotating shaft and a rotor hub arranged on the rotating shaft; the inner shell and the outer shell B are fixed through a connecting piece, an oil stirring channel is formed between the inner shell and the outer shell B, and an annular magnet is further fixed to the outer wall of the rotor hub. According to the utility model, oil is directly contacted with a stator heating source, the heat dissipation efficiency of the stator is improved, and the rotor hub drives the oil to flow, thereby improving the heat exchange efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint drive technology, and in particular relates to an oil-cooled joint module. Background Technology

[0002] With the rapid development of robotics and automated equipment, joint modules, as core driving components, face higher demands on power density, heat dissipation performance, and structural compactness. Traditional joint modules typically employ a direct-drive structure between the motor and reducer, relying on air cooling or external oil circuits for heat dissipation. However, with increasing demands for high torque and high speed, the heat generated by the motor and reducer during prolonged operation increases significantly, presenting the following challenges to existing cooling methods:

[0003] Insufficient heat dissipation efficiency: Traditional air cooling relies on air convection, which has limited heat dissipation capacity and is difficult to meet the temperature control requirements under high load conditions; while external oil cooling systems usually rely on complex external circulation pipelines, which leads to an increase in module size and the oil is difficult to directly contact the heat-generating components inside the motor (such as stator and rotor), resulting in low cooling efficiency.

[0004] Therefore, there is an urgent need to design a new type of oil-cooled joint module that can achieve efficient cooling of the motor in a compact structure. At the same time, it is necessary to optimize the internal oil circuit and rotor oil stirring design to improve heat dissipation uniformity and system reliability. Utility Model Content

[0005] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide an oil-cooled joint module with a compact structure and good heat dissipation effect.

[0006] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0007] An oil-cooled joint module includes a motor and a harmonic reducer fixed to one end of the motor. The motor drives the harmonic reducer to rotate. The motor includes a housing, a stator assembly, and a rotor assembly. The housing has a base plate and a rear end cover at both ends. The housing includes an outer shell A and an inner oil cavity disposed inside the outer shell A. The two ends of the inner oil cavity form a first oil port and a second oil port, respectively. The stator assembly is fixed inside the inner oil cavity. The rotor assembly is disposed inside the stator assembly and is rotatably connected to the base plate at one end. The rotor assembly includes a rotating shaft and a rotor hub disposed on the rotating shaft. The rotor hub includes an inner shell and an outer shell B, which are fixed together by a connecting piece. An oil stirring channel is formed between the inner shell and the outer shell B. An annular magnet is also fixed on the outer wall of the rotor hub.

[0008] As a preferred embodiment, the inner oil cavity is composed of an outer shell A, an inner ring plate, and a circumferential partition. The inner ring plate is concentrically arranged inside the outer shell A, and the circumferential partition is fixed between the outer shell A and the inner ring plate, so that multiple inner oil cavities are formed between the outer shell A and the inner ring plate.

[0009] As a preferred embodiment, the outer shell A is further provided with a supporting step at one end near the bottom plate, the circumferential partition is L-shaped, and one set of adjacent edges is fixed to the supporting step and the inner wall of the outer shell respectively, and another set of adjacent edges is fixed to the inner ring plate respectively.

[0010] As a preferred embodiment, the connecting piece between the inner shell and the outer shell B is a spiral strip.

[0011] As a preferred embodiment, the rotating shaft is further provided with a limiting ring, and a bearing A is fixed on the rotating shaft. The bearing A and the rotor hub abut against the two sides of the limiting ring, respectively. A convex ring is also provided on the base plate, and the outer ring of the bearing A is interference-fitted with the convex ring.

[0012] As a preferred embodiment, the base plate is also provided with a through hole, the rotating shaft passes through the through hole, and an oil seal is provided between the rotating shaft and the through hole.

[0013] As a preferred embodiment, the rear end cover is also provided with an oil passage hole that connects to the motor cavity and the harmonic reducer cavity, and a sealing ring is also provided between the rear end cover and the outer ring of the support bearing, the sealing ring being located outside the oil passage hole.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] This invention integrates the outer shell and inner oil cavity, embedding the cooling oil circuit directly into the motor housing, avoiding the space occupied by external oil circuits and significantly reducing the module size. Furthermore, the inner oil cavity surrounds the stator assembly, allowing the oil to directly contact the stator heat source, improving stator heat dissipation efficiency. Simultaneously, the rotor hub of this invention features an oil agitation channel that utilizes the centrifugal force of the rotor rotation to drive oil flow, eliminating the need for an external oil pump, reducing system complexity and energy consumption; it also enhances oil agitation, improving heat exchange efficiency. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a cross-sectional structural diagram of the present invention;

[0019] Figure 3and Figure 4 These are exploded structural diagrams of this utility model from different angles;

[0020] Figure 5 This is a schematic diagram of the structure of the motor housing of this utility model;

[0021] Figure 6 This is an exploded structural diagram of the motor rotor assembly of this utility model.

[0022] The attached figures are labeled as follows: 11, outer casing A; 110, supporting step; 12, inner oil cavity; 121, first oil port; 122, second oil port; 123, circumferential partition; 120, inner ring plate; 13, stator assembly; 14, rotor shaft; 141, limiting ring; 151. Inner shell; 152. Outer shell B; 153. Connecting piece; 154. Oil stirring channel; 16. Annular magnet; 17. Base plate; 171. Convex ring; 18. Bearing A; 21. Cover; 22. Control circuit board; 23. Magnetic ring seat A; 231. Oil seal; 24. Magnetic ring A; 26. Magnetic ring B; 27. Magnetic ring seat B; 31. Bearing outer ring; 311. Sealing ring; 32. Bearing inner ring; 33. Elliptical hub; 34. Flexible bearing; 35. Flexible wheel; 4. Rear end cover; 41. Oil passage hole; 51. Connecting disc; 52. Intermediate tube; 53. Bearing B; 54. Bearing bush. Detailed Implementation

[0023] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0030] like Figure 1 and Figure 2As shown, an oil-cooled joint module includes a motor and a harmonic reducer. The motor includes a housing, a stator assembly 13, and a rotor assembly. A base plate 17 and a rear end cover 4 are respectively provided at both ends of the housing. The housing includes an outer shell A11 and an inner oil cavity 12 disposed inside the outer shell A11. A first oil port 121 and a second oil port 122 are respectively formed at both ends of the inner oil cavity 12. The stator assembly 13 is fixed inside the inner oil cavity 12. The specific structure of the inner oil cavity is as follows: Figure 5 As shown, the inner oil cavity 12 is composed of an outer shell A11, an inner ring plate 120 and a circumferential partition 123. The inner ring plate 120 is concentrically arranged inside the outer shell A11, and the circumferential partition 123 is fixed between the outer shell A11 and the inner ring plate 120, so that multiple inner oil cavities 12 are formed between the outer shell A11 and the inner ring plate 120.

[0031] The above structure divides the space between the outer shell A11 and the inner ring plate 120 into multiple independent inner oil chambers 12 through the circumferential partition 123, forming parallel oil circuits to avoid oil short circuits and ensure uniform heat dissipation of the stator circumferentially.

[0032] The rotor assembly is housed within the stator assembly 13, and is rotatably connected to one end of the base plate 17, such as... Figure 6 As shown, the rotor assembly includes a rotating shaft 14 and a rotor hub disposed on the rotating shaft 14. The rotor hub includes an inner shell 151 and an outer shell B152 arranged concentrically. The inner shell 151 and the outer shell B152 are fixed together by a connecting piece 153. The connecting piece 153 between the inner shell 151 and the outer shell B152 is a spiral strip, so that an oil stirring channel 154 is formed between the inner shell 151 and the outer shell B152. An annular magnet 16 that cooperates with the stator assembly is also fixed on the outer wall of the rotor hub.

[0033] The aforementioned spiral connecting plate 153 converts the tangential motion of the rotor rotation into the axial flow of the oil, forming a vortex-shaped oil flow, which prolongs the residence time of the oil in the oil stirring channel 154, enhances the oil stirring efficiency, and improves the heat dissipation effect; at the same time, the spiral structure reduces the impact loss between the oil and the connecting plate, and reduces the rotor rotation load.

[0034] The rotating shaft 14 is also provided with a limiting ring 141, and a bearing A18 is fixed on the rotating shaft 14. The bearing A18 and the rotor hub abut against the two sides of the limiting ring 141 respectively. The base plate 17 is also provided with a raised ring 171, and the outer ring of the bearing A18 is interference-fitted with the raised ring 171. The base plate 17 is also provided with a through hole, through which the rotating shaft 14 passes. An oil seal 231 is also provided between the rotating shaft 14 and the through hole. The above structure strengthens the axial seal and prevents oil from leaking axially along the rotating shaft to the outside or entering the motor control cavity.

[0035] As a further preferred embodiment, the axial length of the inner ring plate 120 is less than the axial length of the outer shell A11, and gaps are left between the two ends of the inner ring plate 120 and the rear end cover 4 and the bottom plate 17, respectively, forming multiple first oil ports 121 and second oil ports 122. The above structure utilizes the pressure difference generated by the rotor rotation to realize the active flow of oil in the axial and radial directions, thereby enhancing the circulation efficiency.

[0036] The outer casing A11 has a supporting step 110 near the bottom plate 17. The circumferential partition 123 is L-shaped, with one set of adjacent edges fixed to the supporting step 110 and the inner wall of the outer casing A11, and another set of adjacent edges fixed to the inner ring plate 120. In the above structure, the L-shaped circumferential partition 123 is fixed by the supporting step 110, which not only shares the force on the casing but also prevents the oil cavity from failing to seal due to vibration deformation; at the same time, it reduces the risk of oil leakage.

[0037] like Figures 2 to 4 As shown, the harmonic reducer includes a wave generator, a flexible wheel 35, an outer ring 31 of a support bearing, and an inner ring 32 of a support bearing. The wave generator includes an elliptical hub 33 and a flexible bearing 34. One end of the rotating shaft 14 passes through the rear end cover 4 and is fixedly connected to the elliptical hub 33. The elliptical hub 33 is disposed inside the flexible wheel 4 via the flexible bearing 34. The elliptical hub 33 rotates together with the rotating shaft 14 and drives the flexible wheel 4 to deform. The flexible wheel 35 is fixed to the rear end cover 4, and the outer ring 31 of the support bearing is fixed to the rear end cover 4. A toothed ring is provided on the inner wall of the inner ring 32 of the support bearing. The inner ring 32 of the support bearing is sleeved outside the flexible wheel 35 and has staggered tooth transmission with the flexible wheel 35. Sealing rings 311 are provided between the outer ring 31, the inner ring 32, and the rear end cover 4. In the above harmonic reducer structure, the steel wheel is integrated on the inner ring of the support bearing, making the structure more compact, reducing the number of parts connected, and reducing the risk of oil leakage.

[0038] The rear end cover 4 is also provided with an oil passage hole 41 connecting the motor cavity and the harmonic reducer cavity. The sealing ring 311 between the rear end cover 4 and the outer ring 31 of the support bearing is located outside the oil passage hole 41. The above structure realizes integrated cooling of the motor and the harmonic reducer: oil flows into the harmonic reducer cavity through the oil passage hole 41 of the rear end cover 4, realizing seamless connection of the oil circuit between the motor and the reducer, and synchronously cooling the gear meshing area of ​​the reducer.

[0039] As a preferred embodiment, the rear end cover 4 can be replaced with a torque sensor. Similarly, this torque sensor also has an oil passage hole 41 connecting the motor cavity and the harmonic reducer cavity. The sealing ring 311 between the torque sensor and the outer ring 31 of the support bearing is located outside the oil passage hole 41. The sealing ring 311 is located outside the oil passage hole 41, isolating the reducer from the external environment and preventing oil leakage or contaminant intrusion.

[0040] The harmonic reducer of this utility model also includes a T-shaped wire harness tube, which includes a connecting disc 51 and an intermediate tube 52. The connecting disc 51 is fixed to one end of the intermediate tube 52 and communicates through it. The connecting disc 51 is fixed to the inner ring 32 of the support bearing, and a sealing ring is provided between the connecting disc 51 and the inner ring 32 of the support bearing. The intermediate tube 52 passes through the harmonic reducer and the hollow rotating shaft 14, and a gap is left between it and the harmonic reducer and the hollow shaft body 221. One end of the intermediate tube 52 is rotatably connected to the wave generator through a bearing B53, and the other end is supported by a bearing bush 54 on the inner wall of the hollow rotating shaft 14.

[0041] The above structure centrally runs the motor control wiring harness through the tube, avoiding short circuits or signal interference caused by contact between the wiring harness and the oil. At the same time, the two ends of the intermediate tube 52 are rotatably connected to the wave generator and the rotating shaft 14 through the support members, which improves the support stability and avoids the impact of tube vibration on the detection accuracy.

[0042] A cover 21 is also fixed on the base plate 17, and a control circuit board 22 is also provided in the mounting cavity formed by the base plate 17 and the cover 21. A magnetic ring seat A23 is also fixed at one end of the rotating shaft 14 near the control circuit board 22. A magnetic ring A24 is fixed on the magnetic ring seat A23. One end of the intermediate tube 52 also extends into the mounting cavity, and a magnetic ring seat B27 is fixed at the end of the intermediate tube 52. A magnetic ring B26 is fixed on the magnetic ring seat B27. The magnetic ring B26 and the magnetic ring A24 are concentrically arranged.

[0043] The aforementioned structure employs non-contact position detection, using magnetic signals to detect the relative position of the rotating shaft and the wiring harness components, achieving high-precision speed or angle feedback. Furthermore, the concentric arrangement of magnetic rings A24 and B26 within the same plane helps reduce the module's axial length.

[0044] This invention employs a combined sealing and oil circuit design to achieve closed-loop oil circulation within a compact space, balancing heat dissipation and leak prevention. This invention solves the problems of structural redundancy, uneven heat dissipation, and insufficient reliability in traditional cooling solutions, providing a highly efficient and lightweight thermal management solution for high-power-density joint modules.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0046] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. An oil-cooled joint module, comprising a motor and a harmonic reducer fixed to one end of the motor, wherein the motor drives the harmonic reducer to rotate, characterized in that: The motor includes a housing, a stator assembly (13), and a rotor assembly. The housing has a base plate (17) and a rear end cover (4) at both ends. The housing includes an outer shell A (11) and an inner oil cavity (12) located inside the outer shell A (11). The inner oil cavity (12) has a first oil port (121) and a second oil port (122) at both ends. The stator assembly (13) is fixed inside the inner oil cavity (12). The rotor assembly is located within the stator assembly (13). The rotor assembly includes a rotating shaft (14) and a rotor hub disposed on the rotating shaft (14). The rotor hub includes an inner shell (151) and an outer shell B (152). The inner shell (151) and the outer shell B (152) are fixed together by a connecting piece (153), and an oil stirring channel (154) is formed between the inner shell (151) and the outer shell B (152). An annular magnet (16) is also fixed on the outer wall of the rotor hub.

2. The oil-cooled joint module according to claim 1, characterized in that, The inner oil cavity (12) is composed of an outer shell A (11), an inner ring plate (120) and a circumferential partition (123). The inner ring plate (120) is concentrically arranged inside the outer shell A (11), and the circumferential partition (123) is fixed between the outer shell A (11) and the inner ring plate (120), so that multiple inner oil cavities (12) are formed between the outer shell A (11) and the inner ring plate (120).

3. The oil-cooled joint module according to claim 2, characterized in that, The outer shell A (11) is provided with a support step (110) at one end near the bottom plate (17). The circumferential partition (123) is L-shaped, and one set of adjacent edges is fixed to the support step (110) and the inner wall of the outer shell A (11) respectively, and another set of adjacent edges is fixed to the inner ring plate (120) respectively.

4. An oil-cooled joint module according to claim 1 or 2, characterized in that, The connecting piece (153) between the inner shell (151) and the outer shell B (152) is a spiral strip.

5. The oil-cooled joint module according to claim 1, characterized in that, The rotating shaft (14) is also provided with a limiting ring (141), and a bearing A (18) is also fixed on the rotating shaft (14). The bearing A (18) and the rotor hub abut against the two sides of the limiting ring (141) respectively. A convex ring (171) is also provided on the base plate (17). The outer ring of the bearing A (18) is interference-fitted with the convex ring (171).

6. The oil-cooled joint module according to claim 1, characterized in that, The base plate (17) is also provided with a through hole, the rotating shaft (14) passes through the through hole, and an oil seal (231) is provided between the rotating shaft (14) and the through hole.

7. The oil-cooled joint module according to claim 1, characterized in that, The rear end cover (4) is also provided with an oil passage hole (41) that connects the motor cavity and the harmonic reducer cavity. A sealing ring (311) is also provided between the rear end cover (4) and the outer ring (31) of the support bearing. The sealing ring (311) is located outside the oil passage hole (41).

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