Planetary reduction joint module with forced air cooling structure

Abstract

The utility model relates to a kind of planetary reduction joint module with forced air cooling structure, including shell, stator assembly, rotor assembly and reduction module, the middle part of shell is equipped with through-hole, and the edge of through-hole forms a circle inner spacer ring, stator assembly is fixed in the outside of inner spacer ring, rotor assembly includes middle connecting block, spoke and magnetic rotating ring, multiple spokes are equidistantly spaced in the outside of middle connecting block, and multiple spokes are all inclinedly set along width direction, magnetic rotating ring is set in the outside of stator assembly, and upper portion is fixed with multiple spokes, reduction module is installed in through-hole, and the input end of reduction module is drivingly connected with middle connecting block.The utility model's rotor assembly significantly improves the disturbance efficiency of airflow in shell;The utility model's inner spacer ring fixes stator assembly on the outside, so that reduction module is completely embedded in through-hole, physically isolates motor heating area and reduction mechanism, while inner spacer ring is used as structural support, and the conduction path of heat to reduction module is shortened.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint module technology, and in particular relates to a planetary deceleration joint module with a forced air cooling structure. Background Technology

[0002] Planetary gear reducer modules, as core components in the field of precision transmission, are widely used in high-precision drive scenarios such as robot joints and industrial automation equipment. Traditional planetary gear reducer modules typically employ a separate design for the motor and reducer, resulting in issues such as loose structure and large axial dimensions, making it difficult to meet the needs of compact equipment. Furthermore, the motor stator and rotor assemblies generate a significant amount of heat during module operation, and existing technologies often rely on natural heat dissipation or simple heat sink structures, leading to low heat dissipation efficiency. This is especially problematic under prolonged high-load conditions, easily causing excessive temperature rise, which in turn affects magnet performance, lubricant stability, and gear transmission accuracy, severely limiting the module's power density and lifespan.

[0003] In recent years, integrated design has gradually become a development trend, but existing integrated structures still present contradictions in terms of heat dissipation and space layout. For example, some solutions arrange the motor rotor and reduction mechanism coaxially, which shortens the axial dimension, but the rotor assembly is mostly a closed structure, making it difficult for airflow to penetrate, resulting in heat accumulation. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this utility model is to provide a planetary deceleration joint module with a forced air-cooling structure, which has a compact structure and good heat dissipation.

[0005] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0006] A planetary reduction joint module with a forced air-cooling structure includes a housing, a stator assembly, a rotor assembly, and a reduction module. The housing has a through hole in the middle, and an inner spacer ring is formed by the edge of the through hole. The stator assembly is fixed to the outside of the inner spacer ring. The rotor assembly includes a central connecting block, spokes, and a magnetic rotating ring. Multiple spokes are equidistantly arranged on the outside of the central connecting block, and all spokes are inclined along the width direction. The magnetic rotating ring is located on the outside of the stator assembly, and its upper part is fixed to the multiple spokes. The reduction module is installed in the through hole, and the input end of the reduction module is drively connected to the central connecting block.

[0007] As a preferred embodiment, the magnetic rotating ring includes a rotating ring, magnets, and a mounting ring. The mounting ring is fixed to the inner wall of the rotating ring, and multiple partition strips are spaced apart along the circumference of the mounting ring. Multiple magnets are respectively engaged between two corresponding partition strips.

[0008] As a preferred embodiment, the magnetic rotating ring is fixed to the multiple spokes by a connecting ring, the connecting ring being stepped, and the upper end of the magnetic rotating ring being folded inward to form a snap-on edge, the snap-on edge of the magnetic rotating ring being fixed to the stepped surface of the connecting ring.

[0009] As a preferred embodiment, the reduction module includes a planetary carrier A, a planetary carrier B, planetary gears, a sun gear, and a ring gear. The planetary carrier A and planetary carrier B are fixed to each other by multiple bolts with a gap in between. The multiple planetary gears are rotatably mounted on the corresponding bolts by roller bearings. The ring gear is fixed to the inner sidewall of the inner spacer ring, and the multiple planetary gears mesh with the ring gear. The sun gear is positioned between the multiple planetary gears and meshes with them for transmission. One end of the sun gear is connected to the central connecting block for transmission, and the other end is rotatably mounted to the planetary carrier A by bearings.

[0010] As a preferred embodiment, the planetary carrier B is provided with bearings on both the inner and outer sides. The bearing on the inner side is rotatably connected to the central connecting block, and the bearing on the outer side is rotatably connected to the inner spacer ring. A sealing ring is also provided between the inner spacer ring and the bearing.

[0011] As a preferred embodiment, a bearing is also provided between the planetary carrier A and the housing.

[0012] As a preferred embodiment, one end of the housing is also fixed with an end cap, the middle of which protrudes outward to form a receiving cavity, and a control circuit board is also fixed inside the receiving cavity.

[0013] As a preferred embodiment, the side of the receiving cavity of the end cap is also provided with a wiring port, and a reinforcing rib is also provided between the receiving cavity and the end cap.

[0014] As a preferred embodiment, the end cap is installed in a stepped manner with the outer side plate of the housing and is fastened by multiple bolts.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] The rotor assembly of this invention adopts a spoke design with equal-distance inclination along the width direction, which forms a composite airflow of axial and radial directions when rotating at high speed. This breaks through the limitation of traditional symmetrical spokes that only generate radial airflow, and significantly improves the turbulence efficiency of the airflow inside the housing. The inner spacer ring in the middle of the housing of this invention fixes the stator assembly to the outside, so that the reduction module is completely embedded in the through hole, physically isolating the motor heating area from the reduction mechanism. At the same time, the inner spacer ring serves as a structural support component, shortening the heat conduction path to the reduction module. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a cross-sectional structural diagram of the present invention;

[0020] Figure 3 This is a structural schematic diagram of the housing, stator assembly, and rotor assembly of this utility model;

[0021] Figure 4 This is a schematic diagram of the rotor assembly of this utility model.

[0022] The attached diagram is labeled as follows: 1. End cap; 11. Reinforcing rib; 12. Wiring port; 2. Housing; 20. Outer side plate; 21. Inner spacer ring; 3. Stator assembly; 41. Central connecting block; 42. Spoke; 43. Connecting ring; 44. Magnetic rotating ring; 441. Rotating ring; 442. Magnet; 443. Mounting ring; 51. Planetary carrier A; 52. Planetary carrier B; 53. Planetary gear; 531. Roller bearing; 54. Gear ring; 55. Sun gear column; 6. Sealing ring; 7. Control circuit board. 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 Figures 1 to 4 As shown, a planetary reduction joint module with a forced air-cooling structure includes a housing 2, a stator assembly 3, a rotor assembly, and a reduction module. The housing 2 has a through hole in the middle, and an inner spacer ring 21 is formed by the edge of the through hole. The stator assembly 3 is fixed to the outside of the inner spacer ring 21. The rotor assembly includes a central connecting block 41, spokes 42, and a magnetic rotating ring 44. Multiple spokes 42 are equidistantly arranged on the outside of the central connecting block 41, and all spokes 42 are inclined along the width direction. The magnetic rotating ring 44 is arranged on the outside of the stator assembly 3, and its upper part is fixed to the multiple spokes 42. The reduction module is installed in the through hole, and the input end of the reduction module is connected to the central connecting block 41 for transmission.

[0031] The aforementioned structure uses an inner spacer ring to coaxially nest the stator and reduction module, shortening the axial length by more than 30% compared to the traditional split structure, thus meeting the requirements for compact robot joints. Simultaneously, the inclined spoke design generates a spiral airflow during rotation (experimental data shows a 40% increase in airflow velocity), forcibly guiding the airflow through the stator winding gaps, effectively reducing stator temperature rise (measured reduction of 15-20℃) and enhancing dynamic heat dissipation. Furthermore, the inner spacer ring serves a dual function as both a stator mounting base and a reduction module support ring, eliminating assembly errors inherent in traditional split housings, increasing radial stiffness by 25%, reducing eccentric vibration, and optimizing structural rigidity. This structure also shortens the transmission chain, and the direct connection between the rotor output shaft and the planetary carrier reduces intermediate transmission components, improving transmission efficiency.

[0032] The magnetic rotating ring 44 includes a rotating ring 441, a magnet 442, and a mounting ring 443. The mounting ring 443 is fixed to the inner wall of the rotating ring, and multiple partition strips are arranged at intervals along the circumference of the mounting ring 443. Multiple magnets are respectively locked between two corresponding partition strips.

[0033] The aforementioned structure improves the positioning accuracy of the magnets. The separators form standardized slots, ensuring that the magnet spacing error is less than 0.1mm, improving magnetic field uniformity by 12%, and reducing motor torque pulsation. It also enhances resistance to centrifugal force; when the magnets rotate at high speed, they are laterally constrained by the separators, reducing displacement and preventing the risk of magnet detachment.

[0034] The magnetic rotating ring 44 is fixed to the multiple spokes 42 by a connecting ring 43. The connecting ring 43 is stepped, and the upper end of the magnetic rotating ring 44 is folded inward to form a retaining edge. The retaining edge of the magnetic rotating ring 44 is fixed to the stepped surface of the connecting ring. The retaining edge and the stepped surface cooperate to form a mechanical self-locking mechanism, preventing axial displacement of the rotating ring caused by high-speed centrifugal force. The retaining edge and the stepped surface fit tightly to prevent external dust from entering the gaps between the magnets.

[0035] The reduction module includes a planetary carrier A51, a planetary carrier B52, planetary gears 53, a sun gear 55, and a ring gear 54. The planetary carrier A51 and planetary carrier B52 are fixed to each other by multiple bolts with a gap in between. The multiple planetary gears 53 are rotatably mounted on the corresponding bolts by roller bearings 531. The ring gear 54 is fixed to the inner sidewall of the inner spacer ring 21, and the multiple planetary gears 53 mesh with the ring gear 54. The sun gear 55 is disposed between the multiple planetary gears 53 and meshes with the multiple planetary gears 53 for transmission. One end of the sun gear 55 is connected to the central connecting block 41 for transmission, and the other end is rotatably mounted to the planetary carrier A51 by bearings.

[0036] The planetary carrier B52 has bearings on both its inner and outer sides. The inner bearing is rotatably connected to the central connecting block 41, and the outer bearing is rotatably connected to the inner spacer 21. A sealing ring 6 is also provided between the inner spacer 21 and the bearing. A bearing is also provided between the planetary carrier A51 and the housing 2. This dual-bearing support enhances the radial load-bearing capacity of the planetary carrier, making it suitable for instantaneous impact torque conditions. The sealing ring is made of fluororubber, with a temperature resistance of up to 150℃, a lubricating oil leakage rate of <0.1g / 1000h, and a maintenance cycle extended to 20,000 hours.

[0037] One end of the housing 2 is also fixed with an end cap 1. The middle of the end cap 1 protrudes outward to form a receiving cavity, and a control circuit board 7 is fixed inside the receiving cavity. The circuit board is directly connected to the motor stator wires, which shortens the signal transmission distance, reduces the signal delay, and improves the closed-loop control response speed.

[0038] The end cap 1 also has a wiring port 12 on the side of its receiving cavity, and a reinforcing rib 11 is provided between the receiving cavity and the end cap 1. The reinforcing rib improves the bending stiffness of the end cap, and the wiring port is embedded with a rubber sealing ring to meet the needs of frequent cable chain bending in industrial scenarios.

[0039] The end cap 1 and the outer side plate 20 of the housing 2 are fitted together in a stepped manner and secured with multiple bolts. This stepped positioning structure reduces the coaxiality error between the end cap and the housing, eliminating the need for tooling fixtures for alignment. Simultaneously, the stepped mating surfaces are coated with a silicone sealing layer, enhancing the overall airtightness.

[0040] This invention is the first to achieve three-dimensional synergy of air-cooled power generation, thermal zoning management, and transmission path optimization. It can form efficient forced convection inside the module without the need for an external fan, while ensuring the stability of high torque transmission. It provides an innovative solution for the heat dissipation and performance balance of high-density integrated joint modules.

[0041] 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.

[0042] 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. A planetary deceleration joint module with a forced air-cooling structure, characterized in that: The device includes a housing (2), a stator assembly (3), a rotor assembly, and a reduction module. The housing (2) has a through hole in the middle, and an inner spacer ring (21) is formed on the edge of the through hole. The stator assembly (3) is fixed on the outside of the inner spacer ring (21). The rotor assembly includes a central connecting block (41), spokes (42), and a magnetic rotating ring (44). Multiple spokes (42) are equidistantly arranged on the outside of the central connecting block (41), and multiple spokes (42) are inclined along the width direction. The magnetic rotating ring (44) is arranged on the outside of the stator assembly (3), and its upper part is fixed to multiple spokes (42). The reduction module is installed in the through hole, and the input end of the reduction module is connected to the central connecting block (41) for transmission.

2. A planetary deceleration joint module with a forced air-cooling structure according to claim 1, characterized in that, The magnetic rotating ring (44) includes a rotating ring (441), a magnet (442) and a mounting ring (443). The mounting ring (443) is fixed to the inner wall of the rotating ring, and multiple partition strips are arranged at intervals along the circumference on the mounting ring (443). Multiple magnets are respectively locked between two corresponding partition strips.

3. A planetary deceleration joint module with a forced air-cooling structure according to claim 1, characterized in that, The magnetic rotating ring (44) is fixed to the multiple spokes (42) by a connecting ring (43). The connecting ring (43) is stepped. The upper end of the magnetic rotating ring (44) is folded inward to form a snap edge. The snap edge of the magnetic rotating ring (44) is fixed to the stepped surface of the connecting ring.

4. A planetary deceleration joint module with a forced air-cooling structure according to claim 1, characterized in that, The reduction module includes a planetary carrier A (51), a planetary carrier B (52), planetary gears (53), a sun gear column (55), and a gear ring (54). The planetary carrier A (51) and the planetary carrier B (52) are fixed to each other by multiple bolts with a gap in between. Multiple planetary gears (53) are rotatably mounted on the corresponding bolts by roller bearings (531). The gear ring (54) is fixed on the inner side wall of the inner spacer (21). Multiple planetary gears (53) mesh with the gear ring (54). The sun gear column (55) is located between multiple planetary gears (53) and meshes with multiple planetary gears (53) for transmission. One end of the sun gear column (55) is connected to the central connecting block (41) for transmission, and the other end is rotatably mounted to the planetary carrier A (51) by bearings.

5. A planetary deceleration joint module with a forced air-cooling structure according to claim 4, characterized in that, The planetary carrier B (52) is provided with bearings on both the inner and outer sides. The bearing on the inner side is rotatably connected to the middle connecting block (41), and the bearing on the outer side is rotatably connected to the inner diaphragm (21). A sealing ring (6) is also provided between the inner diaphragm (21) and the bearing.

6. A planetary deceleration joint module with a forced air-cooling structure according to claim 4, characterized in that, A bearing is also provided between the planetary carrier A (51) and the housing (2).

7. A planetary deceleration joint module with a forced air-cooling structure according to claim 1, characterized in that, One end of the housing (2) is also fixed with an end cap (1), the middle part of the end cap (1) protrudes outward to form a receiving cavity, and a control circuit board (7) is also fixed inside the receiving cavity.

8. A planetary deceleration joint module with a forced air-cooling structure according to claim 7, characterized in that, The end cap (1) has a wiring port (12) on the side of its receiving cavity, and a reinforcing rib (11) is provided between the receiving cavity and the end cap (1).

9. A planetary deceleration joint module with a forced air-cooling structure according to claim 7, characterized in that, The end cap (1) is installed in a stepped manner with the outer side plate (20) of the housing (2) and is fastened by multiple bolts.

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