Phase-change heat dissipation-based high-power-density robot joint motor

Abstract

The present invention provides a phase-change heat dissipation-based high-power-density robot joint motor, comprising a base, a rotor assembly, a stator assembly, a motor end cover, and a phase-change heat dissipation structure. The stator assembly comprises a stator core and a stator winding wound around the stator core; the phase-change heat dissipation structure is connected between the stator winding and the motor end cover; the phase-change heat dissipation structure is used for transferring heat of the stator winding to the motor end cover and dissipating the heat to the outside. In the present invention, the phase-change heat dissipation structure is arranged between the stator winding and the motor end cover to enhance dissipation of heat from the stator winding of the robot joint motor and achieve uniform heat distribution, and the motor end cover serves as a heat dissipation plate to increase the heat exchange area and enhance the heat dissipation efficiency. The heat pipe structure is simple, the cost is low, and the requirements for lightweight and miniaturized motors are satisfied.

Description

A high power density robot joint motor based on phase change heat dissipation Technical Field

[0001] This invention relates to the field of robot joint motor technology, specifically a high-power-density robot joint motor based on phase change heat dissipation. Background Technology

[0002] Robot joint motors require high power density, lightweight design, and miniaturization. However, high power density also means that the motor will generate more heat during operation. Lightweight and miniaturization mean a compact structure and limited space for heat dissipation structures, which poses a significant challenge to heat dissipation design. Achieving efficient heat dissipation within a limited space is a current technological hurdle.

[0003] The temperature rise of the motor windings is the most critical performance indicator of motor temperature rise. Therefore, in order to address the problem of high temperature rise of motor windings, it is necessary to propose a solution that can improve the heat dissipation performance of the joint motor, thus meeting the needs of high-power humanoid robots.

[0004] Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a high power density robot joint motor based on phase change heat dissipation.

[0006] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is: a high power density robot joint motor based on phase change heat dissipation, including a base, a rotor assembly, a stator assembly, a motor end cover, and a phase change heat dissipation structure. The stator assembly includes a stator core and a stator winding wound on the stator core. The phase change heat dissipation structure is connected between the stator winding and the motor end cover. The phase change heat dissipation structure is used to transfer the heat of the stator winding to the motor end cover and dissipate it to the outside.

[0007] In this invention, a phase change heat dissipation structure is set between the stator winding and the motor end cover, which can enhance the heat dissipation of the stator winding of the robot joint motor, distribute heat evenly, and increase the heat exchange area as a heat dissipation plate, thereby enhancing the heat dissipation efficiency.

[0008] Furthermore, the phase change heat dissipation structure is a heat pipe, which includes a cooling section, an intermediate section and an evaporation section. The evaporation section is embedded in the slot space inside the stator winding, and the cooling section is embedded in the fixing slot of the motor end cover.

[0009] The preferred solution described above has a simple structure, low cost, and meets the requirements for lightweight and miniaturized motors.

[0010] Furthermore, the gap between the stator winding and the evaporation section is filled with thermally conductive adhesive, and the gap between the cooling section and the motor end cover fixing groove is filled with thermally conductive adhesive.

[0011] By adopting the above-mentioned preferred scheme, the heat transfer efficiency between the heat pipe evaporation section and the stator winding, as well as the connection between the heat pipe cooling section and the motor end cover, is improved.

[0012] Furthermore, the length of the evaporation section is 98%-102% of the length of the stator core.

[0013] Furthermore, the diameter of the heat pipe is 95%-100% of the maximum inscribed circle diameter of the stator winding slot space.

[0014] By adopting the above-mentioned preferred scheme, the contact degree between the heat pipe and the stator winding is improved.

[0015] Furthermore, the length of the heat pipe cooling section is greater than 15% of the total length of the heat pipe.

[0016] By adopting the above-mentioned preferred scheme, the length of the heat pipe cooling section is ensured to ensure that heat is dissipated in a timely manner through the motor end cover.

[0017] Furthermore, the thickness of the motor end cover shall not be less than 20mm.

[0018] Furthermore, the motor end cover is provided with a water flow channel, and the motor end cover is provided with an inlet and an outlet that are connected to the water flow channel.

[0019] Furthermore, a cooling water circulation supply device is externally connected between the water inlet and outlet of the motor end cover.

[0020] By adopting the above-mentioned preferred scheme, the motor end cover is used as a water-cooled plate to enhance the heat exchange efficiency.

[0021] Furthermore, a first temperature sensor is installed at the stator winding position, and a second temperature sensor is installed on the motor end cover near the heat pipe cooling section; the stator winding temperature detected by the first temperature sensor is T1, and the temperature of the heat pipe cooling section detected by the second temperature sensor is T2; when T1 is greater than the set temperature value TS, the cooling water circulation supply device is started, and the cooling water circulation speed of the cooling water circulation supply device is controlled according to the difference ΔT between T1 and T2. The smaller the difference between ΔT and the temperature difference set value ΔTS, the faster the cooling water circulation speed.

[0022] By adopting the above-mentioned preferred scheme, the stator winding temperature is monitored, and water cooling is activated when the temperature exceeds the set value to improve the heat dissipation efficiency of the motor end cover and ensure that the heat from the stator winding is quickly dissipated to the motor end cover via the heat pipe. The cooling water circulation speed is adjusted by detecting the temperature difference between the two ends of the heat pipe to achieve both heat dissipation and energy saving. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 is a structural schematic diagram of one embodiment of the present invention.

[0025] Figure 2 is a schematic diagram of the structure of the motor end cover of the present invention.

[0026] Figure 3 is a cross-sectional schematic diagram of the stator assembly of the present invention.

[0027] Figure 4 is a schematic diagram of the heat pipe structure of the present invention.

[0028] The numbers and letters in the diagram represent the names of the corresponding components:

[0029] 11-Base; 12-Rotor assembly; 13-Stator assembly; 131-Stator winding; 14-Motor end cover; 141-Fixing slot; 142-Water inlet; 143-Water outlet; 15-Heat pipe; 151-Evaporation section; 152-Intermediate section; 153-Cooling section. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] As shown in Figures 1-4, one embodiment of the present invention is a high power density robot joint motor based on phase change heat dissipation, including a base 11, a rotor assembly 12, a stator assembly 13, a motor end cover 14, and a phase change heat dissipation structure. The stator assembly 13 includes a stator core and a stator winding 131 wound on the stator core. The phase change heat dissipation structure is connected between the stator winding 131 and the motor end cover 14. The phase change heat dissipation structure is used to transfer the heat of the stator winding 131 to the motor end cover 14 and dissipate it to the outside.

[0032] The beneficial effects of adopting the above technical solution are: setting a phase change heat dissipation structure between the stator winding and the motor end cover can enhance the heat dissipation of the stator winding of the robot joint motor, distribute heat evenly, and increase the heat exchange area and enhance the heat dissipation efficiency by using the motor end cover as a heat dissipation plate.

[0033] As shown in Figures 1-4, in some embodiments of the present invention, the phase change heat dissipation structure is a heat pipe 15, which includes a cooling section 153, an intermediate section 152, and an evaporation section 151. The evaporation section 151 is embedded in the slot space inside the stator winding 13, and the cooling section 153 is embedded in the fixing slot 141 of the motor end cover 14. The beneficial effects of adopting the above technical solution are: simple structure, low cost, and compliance with the requirements of lightweight and miniaturized motors.

[0034] In other embodiments of the present invention, the gap between the stator winding 13 and the evaporation section 151 is filled with thermally conductive adhesive, and the gap between the cooling section 153 and the motor end cover fixing groove 141 is filled with thermally conductive adhesive. The beneficial effect of adopting the above technical solution is to improve the heat transfer efficiency at the connection between the heat pipe evaporation section and the stator winding, and between the heat pipe cooling section and the motor end cover.

[0035] In other embodiments of the present invention, the length of the evaporation section 151 is 98%-102% of the length of the stator core. The diameter of the heat pipe 15 is 95%-100% of the diameter of the maximum inscribed circle of the stator winding slot space. The beneficial effect of adopting the above technical solution is to improve the contact degree between the heat pipe and the stator winding.

[0036] In some other embodiments of the present invention, the length of the heat pipe cooling section 153 is greater than 15% of the total length of the heat pipe 15. The beneficial effect of adopting the above technical solution is that it ensures the length of the heat pipe cooling section to ensure that heat is dissipated in a timely manner through the motor end cover.

[0037] In other embodiments of the present invention, the thickness of the motor end cover 14 is not less than 20 mm. A water flow channel is provided inside the motor end cover 14, and an inlet 142 and an outlet 143 connected to the water flow channel are provided on the motor end cover 14. A cooling water circulation supply device is externally connected between the inlet 142 and the outlet 143 of the motor end cover 14. The beneficial effect of adopting the above technical solution is that using the motor end cover as a water-cooled plate enhances heat exchange efficiency.

[0038] In other embodiments of the present invention, a first temperature sensor is installed at the stator winding 131, and a second temperature sensor is installed on the motor end cover 14 near the heat pipe cooling section. The stator winding temperature detected by the first temperature sensor is T1, and the temperature of the heat pipe cooling section detected by the second temperature sensor is T2. When T1 is greater than the set temperature value TS, the cooling water circulation supply device is activated, and the cooling water circulation speed of the cooling water circulation supply device is controlled according to the difference ΔT between T1 and T2. The smaller the difference between ΔT and the set temperature difference value ΔTS, the faster the cooling water circulation speed. The beneficial effects of adopting the above technical solution are: monitoring the stator winding temperature and activating water cooling when the temperature exceeds the set value, improving the heat dissipation efficiency of the motor end cover, and ensuring that the heat from the stator winding is quickly dissipated to the motor end cover via the heat pipe. By detecting the temperature difference between the two ends of the heat pipe, the cooling water circulation speed is adjusted to achieve both heat dissipation and energy saving.

[0039] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A high-power-density robot joint motor based on phase-change heat dissipation, characterized in that, The device includes a base, a rotor assembly, a stator assembly, a motor end cover, and a phase change heat dissipation structure. The stator assembly includes a stator core and a stator winding wound around the stator core. The phase change heat dissipation structure is connected between the stator winding and the motor end cover. The phase change heat dissipation structure is used to transfer the heat of the stator winding to the motor end cover and dissipate it to the outside.

2. The high power density robot joint motor based on phase change heat dissipation according to claim 1, characterized in that, The phase change heat dissipation structure is a heat pipe, which includes a cooling section, an intermediate section and an evaporation section. The evaporation section is embedded in the slot space inside the stator winding, and the cooling section is embedded in the fixing slot of the motor end cover.

3. The high power density robot joint motor based on phase change heat dissipation according to claim 2, characterized in that, The gap between the stator winding and the evaporation section is filled with thermally conductive adhesive, and the gap between the cooling section and the motor end cover fixing groove is filled with thermally conductive adhesive.

4. The high power density robot joint motor based on phase change heat dissipation according to claim 2, characterized in that, The length of the evaporation section is 98%-102% of the length of the stator core.

5. The high power density robot joint motor based on phase change heat dissipation according to claim 2, characterized in that, The diameter of the heat pipe is 95%-100% of the maximum inscribed circle diameter of the stator winding slot space.

6. The high power density robot joint motor based on phase change heat dissipation according to claim 2, characterized in that, The length of the cooling section of the heat pipe is greater than 15% of the total length of the heat pipe.

7. The high power density robot joint motor based on phase change heat dissipation according to claim 6, characterized in that, The thickness of the motor end cover shall not be less than 20mm.

8. The high power density robot joint motor based on phase change heat dissipation according to claim 6, characterized in that, The motor end cover is provided with a water flow channel, and the motor end cover is provided with an inlet and an outlet that are connected to the water flow channel.

9. The high power density robot joint motor based on phase change heat dissipation according to claim 8, characterized in that, A cooling water circulation supply device is externally connected between the water inlet and outlet of the motor end cover.

10. The high power density robot joint motor based on phase change heat dissipation according to claim 9, characterized in that, A first temperature sensor is installed at the stator winding position, and a second temperature sensor is installed on the motor end cover near the heat pipe cooling section; the stator winding temperature detected by the first temperature sensor is T1, and the temperature of the heat pipe cooling section detected by the second temperature sensor is T2; when T1 is greater than the set temperature value TS, the cooling water circulation supply device is started, and the cooling water circulation speed of the cooling water circulation supply device is controlled according to the difference ΔT between T1 and T2. The smaller the difference between ΔT and the set temperature difference value ΔTS, the faster the cooling water circulation speed.

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