Axial magnetic field control device for a robot joint module
Patent Information
- Application Number
- CN202522375974.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-10
- Publication Date
- 2026-09-22
- Estimated Expiration
- 2035-11-10
AI Technical Summary
[0003]然而，现有的一些轴向磁通电机在使用时，通常是采用风冷的方式进行冷却的，但是风冷依赖空气流动，从而可能导致电机内部某些区域的温度高于其他区域，从而影响电机的整体性能和寿命，因此，需要解决该问题
1.本实用新型由于采用了通过传导棒与冷却管进行配合的技术方案，所以可以确保电机的整体性能和寿命能够有所提升，从而有效解决了风冷依赖空气流动，从而可能导致电机内部某些区域的温度高于其他区域，从而影响电机的整体性能和寿命的问题，在第一冷却管、第二冷却管的内侧均安装有多个传导棒，且多个传导棒均是插入到壳体内部的，从而通过多个传导棒的设置可以使散热效果进一步提高，因为传导棒是直接插入到壳体内部，所以能够直接接触壳体内的热量集中区域，相比于仅靠冷却管与壳体表面接触，大大增加了热量传递的有效面积，更多的面积意味着可以更快地将壳体内部的热量吸收过来，并且传导棒是由导热性能优良的材料（如铜、铝等制成，其导热系数远高于壳体材料和空气，热量从壳体内部通过传导棒可以快速传递到冷却管上，使冷却液能更及时地将热量带走，从而提升整体的散热效率。
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Figure CN224790494U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics technology and relates to axial magnetic field control devices, particularly an axial magnetic field control device for robot joint modules. Background Technology
[0002] The axial magnetic field control device for robot joint modules is an integrated control device based on an axial flux motor (also known as a "disc motor"). As a core component of the robot joint, it enables efficient conversion of electrical energy to mechanical energy and provides power and precise control. Its core axial flux motor features a planar air gap and a magnetic field direction parallel to the motor axis. Basic topologies include single-stator single-rotor, double-stator single-rotor, single-stator double-rotor, and multi-disc types, with double-stator single-rotor and single-stator double-rotor structures commonly used in robotics. Its working principle involves the magnetic field generated when alternating current is applied to the stator windings interacting with the rotor magnet's magnetic field. This interaction, combined with the spatial rotating magnetic field generated by the multi-phase voltage corresponding to the individual windings, drives the rotor to rotate continuously and output power. This device possesses significant performance advantages, including high power density. In terms of performance, through axial magnetic field design and SMC soft magnetic material technology, torque density can be significantly improved compared to traditional motors (e.g., 40% improvement in Xuanji Power products), providing greater load capacity within the same volume or weight. Regarding lightweight design, the axial length is short and the weight is light (reduced by 30% compared to traditional motors), improving robot movement flexibility and energy efficiency. In terms of high integration, high-precision encoders, brakes, and control units can be modularly integrated (e.g., Xuanji Power products can simplify the assembly process by more than 50%, achieving plug-and-play functionality). Its applications are mainly concentrated in humanoid robots (e.g., Tesla's humanoid robot is testing its performance), and the legs, thighs, and arms of legged robot dogs, etc. It can also be used in industrial collaborative robots and drones, effectively improving the motion accuracy, load capacity, and battery life of equipment.
[0003] However, some existing axial flux motors are usually cooled by air cooling. However, air cooling relies on airflow, which may cause the temperature in some areas of the motor to be higher than that in other areas, thus affecting the overall performance and lifespan of the motor. Therefore, this problem needs to be solved. Summary of the Invention
[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing an axial magnetic field control device for robot joint modules. The technical problem this invention aims to solve is that air cooling relies on airflow, which may cause the temperature in some areas of the motor to be higher than in other areas, thereby affecting the overall performance and lifespan of the motor.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: An axial magnetic field control device for a robot joint module includes a first housing and a second housing disposed on one side of the first housing. The first housing and the second housing are connected by bolts. A first cooling pipe and a second cooling pipe are respectively wound around the surface of the first housing and the second housing. Multiple conductive rods are fixedly connected to the surface of the first cooling pipe and the second cooling pipe near the first housing, and the multiple conductive rods are configured to cooperate with the first housing and the second housing. A liquid inlet is provided at the end of the first cooling pipe away from the second cooling pipe, and a liquid outlet is provided at the end of the second cooling pipe away from the first cooling pipe. A connecting mechanism for connecting the first cooling pipe to the second cooling pipe is provided at the end of the first cooling pipe away from the liquid inlet. The conductive rods can ensure that the overall performance and lifespan of the motor can be increased.
[0006] As a further embodiment of this utility model, the connecting mechanism includes a connecting pipe, which is slidably sleeved on one end of the first cooling pipe and the second cooling pipe. A sealing ring is fixedly connected to the end of the first cooling pipe and the second cooling pipe near the connecting pipe. A sealing gasket is slidably connected inside each of the two sealing rings, and both sealing gaskets are fixedly connected inside the connecting pipe. A fixing ring is fixedly sleeved on the surface of the first cooling pipe near the sealing ring. A limiting mechanism for restricting the connecting pipe is provided at the bottom of the fixing ring. A threaded sleeve is rotatably connected to the surface of the second cooling pipe near the connecting pipe, and the threaded sleeve is connected to the connecting pipe through a threaded groove. A fixing cylinder is fixedly sleeved on the surface of the connecting pipe near the threaded sleeve. A constraint mechanism for restraining the threaded sleeve is provided on one side of the fixing cylinder. Through the connecting pipe, the first cooling pipe and the second cooling pipe can be connected, thereby ensuring that the coolant can circulate.
[0007] As a further embodiment of this utility model, the limiting mechanism includes multiple limiting rods, all of which are slidably connected to the bottom of the fixed ring and are evenly arranged in a ring. A limiting plate is fixedly connected to the bottom of each limiting rod. A first spring is sleeved on the surface of each limiting rod near the limiting plate. The bottom ends of each first spring are fixedly connected to the top of the limiting plate, and the top ends of each first spring are fixedly connected to the bottom of the fixed ring. A retaining ring is rotatably connected to the bottom of each limiting plate and is fixedly connected to the bottom of the connecting pipe. The connecting pipe can be limited by the first springs.
[0008] As a further embodiment of this utility model, the constraint mechanism includes a T-shaped groove, which is formed on one side of the fixed cylinder. A T-shaped plate is slidably connected inside the T-shaped groove. A baffle is fixedly connected to the surface of the T-shaped plate away from the connecting pipe. Threaded sleeves are also fitted together. Two second springs are fixedly connected to the top of the T-shaped plate. The tops of the two second springs are fixedly connected to one side inside the threaded sleeve. By setting the baffle, the threaded sleeve can be constrained to prevent it from loosening.
[0009] The beneficial effects of this utility model are as follows: 1. This utility model employs a technical solution that combines conductive rods with cooling pipes, thereby improving the overall performance and lifespan of the motor. It effectively solves the problem that air cooling relies on airflow, which can lead to higher temperatures in certain areas of the motor compared to others, thus affecting overall performance and lifespan. Multiple conductive rods are installed inside both the first and second cooling pipes, and these rods are inserted into the housing. This arrangement further enhances heat dissipation. Because the rods are directly inserted into the housing, they can directly contact areas of concentrated heat within the housing. Compared to the cooling pipes only contacting the housing surface, this significantly increases the effective heat transfer area. A larger area means faster absorption of heat from inside the housing. Furthermore, the conductive rods are made of materials with excellent thermal conductivity (such as copper and aluminum, whose thermal conductivity is much higher than that of the housing material and air). Heat can be quickly transferred from inside the housing to the cooling pipes via the conductive rods, allowing the coolant to remove heat more promptly, thus improving overall heat dissipation efficiency. Attached Figure Description
[0010] Figure 1 This is a schematic diagram of the overall structure of an axial magnetic field control device for a robot joint module proposed in this utility model. Figure 2 This is a schematic diagram of the internal structure of an axial magnetic field control device for a robot joint module proposed in this utility model; Figure 3 for Figure 2 Enlarged structural diagram at point A in the diagram; Figure 4 This is a schematic diagram of the limiting mechanism of an axial magnetic field control device for a robot joint module proposed in this utility model; Figure 5 for Figure 4 Enlarged structural diagram at point B in the diagram; Figure 6 This is a schematic diagram of the constraint mechanism of an axial magnetic field control device for a robot joint module proposed in this utility model; Figure 7 for Figure 6A magnified structural diagram at point C in the diagram.
[0011] In the diagram: 1. First housing; 2. First cooling pipe; 3. Connecting pipe; 101. Second housing; 201. Liquid inlet; 202. Second cooling pipe; 203. Liquid outlet; 204. Conducting rod; 205. Sealing ring; 206. Fixing ring; 207. Limiting rod; 208. First spring; 209. Limiting plate; 301. Sealing gasket; 302. Retaining ring; 303. Fixing cylinder; 304. Baffle; 305. Threaded sleeve; 306. T-shaped plate; 307. Second spring; 308. T-groove. Detailed Implementation
[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.
[0013] Reference Figure 1 - Figure 7 An axial magnetic field control device for a robot joint module includes a first housing 1 and a second housing 101 disposed on one side of the first housing 1. The first housing 1 and the second housing 101 are connected by bolts. A first cooling pipe 2 and a second cooling pipe 202 are respectively wound around the surface of the first housing 1 and the second housing 101. Multiple conductive rods 204 are fixedly connected to the surface of the first cooling pipe 2 and the second cooling pipe 202 near the first housing 1, and the multiple conductive rods 204 are configured to cooperate with the first housing 1 and the second housing 101. Through the setting of the conductive rods 204, they can directly contact the heat concentration area inside the housing, thereby ensuring better heat dissipation. A liquid inlet 201 is provided at the end of the first cooling pipe 2 away from the second cooling pipe 202, and a liquid outlet 203 is provided at the end of the second cooling pipe 202 away from the first cooling pipe 2. A connecting mechanism for connecting the second cooling pipe 202 is provided at the end of the first cooling pipe 2 away from the liquid inlet 201. Through the setting of the conductive rods 204, the overall performance and life of the motor can be improved.
[0014] Preferably, the connecting mechanism includes a connecting pipe 3, which is slidably sleeved on one end of the first cooling pipe 2 and the second cooling pipe 202. A sealing ring 205 is fixedly connected to the end of both the first cooling pipe 2 and the second cooling pipe 202 near the connecting pipe 3. A sealing gasket 301 is slidably connected inside each of the two sealing rings 205, and both sealing gaskets 301 are fixedly connected inside the connecting pipe 3. A fixing ring 206 is fixedly sleeved on the surface of the first cooling pipe 2 near the sealing ring 205. The sealing rings 205 and the sealing gaskets 301 prevent leakage. To prevent leakage, the bottom of the retaining ring 206 is provided with a limiting mechanism for limiting the connecting pipe 3. The second cooling pipe 202 is rotatably connected to the surface near the connecting pipe 3 with a threaded sleeve 305, and the threaded sleeve 305 is connected to the connecting pipe 3 through a threaded groove. The surface of the connecting pipe 3 near the threaded sleeve 305 is fixedly fitted with a retaining sleeve 303, and the side of the retaining sleeve 303 is provided with a restraining mechanism for restraining the threaded sleeve 305. Through the setting of the connecting pipe 3, the first cooling pipe 2 and the second cooling pipe 202 can be connected to ensure that the coolant can circulate.
[0015] Furthermore, the limiting mechanism includes multiple limiting rods 207, all of which are slidably connected to the bottom of the fixed ring 206 and are evenly arranged in a ring. Each limiting rod 207 has a fixedly connected limiting disc 209 at its bottom. A first spring 208 is sleeved on the surface of each limiting rod 207 near the limiting disc 209, with the bottom ends of the first springs 208 fixedly connected to the top of the limiting disc 209. The limiting disc 209 allows the connecting tube 3 to rotate. The top ends of the first springs 208 are fixedly connected to the bottom of the fixed ring 206. The bottom of each limiting disc 209 is rotatably connected to the same retaining ring 302, which is fixedly connected to the bottom of the connecting tube 3. The first springs 208 restrict the connection tube 3.
[0016] Furthermore, the constraint mechanism includes a T-slot 308, which is formed on one side of the fixed cylinder 303. A T-plate 306 is slidably connected inside the T-slot 308. A baffle 304 is fixedly connected to the surface of the T-plate 306 away from the connecting pipe 3. Threaded sleeves 305 are also fitted together. Two second springs 307 are fixedly connected to the top of the T-plate 306. The tops of the two second springs 307 are fixedly connected to one side inside the threaded sleeve 305. By setting the baffle 304, the threaded sleeve 305 can be constrained to prevent it from loosening.
[0017] Working principle: A first cooling pipe 2 and a second cooling pipe 202 are wound around the surfaces of the first housing 1 and the second housing 101, respectively, and the first cooling pipe 2 and the second cooling pipe 202 are connected by a connecting pipe 3. A liquid inlet 201 is provided at one end of the first cooling pipe 2, through which coolant can enter the first cooling pipe 2 and the liquid inlet 201, thereby achieving the purpose of heat dissipation of the device. Multiple conductive rods 204 are installed on the inner side of the first cooling pipe 2 and the second cooling pipe 202, and the multiple conductive rods 204 are inserted into the housing. Thus, through the arrangement of multiple conductive rods 204, This can further improve the heat dissipation effect because the conductive rod 204 is directly inserted into the shell, so it can directly contact the heat concentration area inside the shell. Compared with the cooling pipe only contacting the shell surface, it greatly increases the effective heat transfer area. More area means that the heat inside the shell can be absorbed more quickly. In addition, the conductive rod 204 is made of a material with excellent thermal conductivity (such as copper and aluminum, whose thermal conductivity is much higher than that of the shell material and air). Heat can be quickly transferred from the inside of the shell to the cooling pipe through the conductive rod 204, so that the coolant can carry away the heat more in time, thereby improving the overall heat dissipation efficiency.
[0018] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. An axial magnetic field control device for a robot joint module, comprising a first housing, a second housing disposed on one side of the first housing, the first housing and the second housing being connected by bolts, characterized in that... The first housing and the second housing are respectively wound with a first cooling pipe and a second cooling pipe. Multiple conductive rods are fixedly connected to the surface of the first cooling pipe and the second cooling pipe near the first housing. The multiple conductive rods are arranged in cooperation with the first housing and the second housing. A liquid inlet is provided at the end of the first cooling pipe away from the second cooling pipe. A liquid outlet is provided at the end of the second cooling pipe away from the first cooling pipe. A connecting mechanism for connecting the first cooling pipe is provided at the end of the first cooling pipe away from the liquid inlet.
2. The axial magnetic field control device for a robot joint module according to claim 1, characterized in that, The connecting mechanism includes a connecting pipe, which is slidably sleeved on one end of the first cooling pipe and the second cooling pipe. A sealing ring is fixedly connected to the end of the first cooling pipe and the second cooling pipe near the connecting pipe.
3. The axial magnetic field control device for a robot joint module according to claim 2, characterized in that, Both sealing rings have slidably connected sealing gaskets inside, and both sealing gaskets are fixedly connected inside the connecting pipe. The first cooling pipe has a fixed ring on the surface near the sealing ring, and the bottom of the fixed ring has a limiting mechanism for limiting the connecting pipe. The second cooling pipe has a threaded sleeve rotatably connected on the surface near the connecting pipe.
4. The axial magnetic field control device for a robot joint module according to claim 3, characterized in that, Furthermore, the threaded sleeve is connected to the connecting pipe through a threaded groove, and a fixed sleeve is fixedly fitted on the surface of the connecting pipe near the threaded sleeve. A constraint mechanism for constraining the threaded sleeve is provided on one side of the fixed sleeve.
5. The axial magnetic field control device for a robot joint module according to claim 4, characterized in that, The limiting mechanism includes multiple limiting rods, all of which are slidably connected to the bottom of a fixed ring and are evenly arranged in a ring. Each of the multiple limiting rods has a limiting plate fixedly connected to its bottom. Each of the multiple limiting rods has a first spring sleeved on its surface near the limiting plate. The bottom ends of the multiple first springs are fixedly connected to the top of the limiting plate, and the top ends of the multiple first springs are fixedly connected to the bottom of the fixed ring. The bottom of the multiple limiting plates is rotatably connected to the same retaining ring, which is fixedly connected to the bottom of the connecting pipe.
6. The axial magnetic field control device for a robot joint module according to claim 5, characterized in that, The constraint mechanism includes a T-shaped groove, which is opened on one side of the fixed cylinder. A T-shaped plate is slidably connected inside the T-shaped groove. A baffle is fixedly connected to the surface of the T-shaped plate away from the connecting pipe. The threaded sleeves are configured to cooperate with each other. Two second springs are fixedly connected to the top of the T-shaped plate. The top ends of the two second springs are fixedly connected to one side inside the threaded sleeve.