CN111509912A - Robot power joint with turbulent flow heat dissipation structure and robot - Google Patents
Robot power joint with turbulent flow heat dissipation structure and robot Download PDFInfo
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- CN111509912A CN111509912A CN202010368017.8A CN202010368017A CN111509912A CN 111509912 A CN111509912 A CN 111509912A CN 202010368017 A CN202010368017 A CN 202010368017A CN 111509912 A CN111509912 A CN 111509912A
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- heat dissipation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
- H02K9/06—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Motor Or Generator Cooling System (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot power joint with a turbulent flow heat dissipation structure and a robot, wherein the power joint comprises a motor, a joint shell and an end part packaging part, the motor is arranged in a hollow cavity formed by the joint shell, the end part packaging part is positioned at the end part of the motor, a first gap is formed between a rotor and a stator, and a first end part gap is formed between a first end of the rotor and the end part packaging part; the middle part of the rotor is provided with a plurality of axial airflow channels through the spacers; a second gap is formed between the circumferential surface of the stator and the joint shell, a second end gap is formed between the first end of the stator and the end part packaging part, and the first end of the stator and the first end of the rotor are the same end of the motor; the axial airflow channel, the first end gap and the first gap form a communicated first air duct; the axial airflow air duct, the second end gap and the second gap form a communicated second air duct; and one end of the joint shell, which is far away from the gap of the first end part, is provided with a heat dissipation flow channel which enables the first air channel and the second air channel to be communicated with the outside.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot power joint with a turbulent flow heat dissipation structure and a robot.
Background
The whole humanoid robot has the requirements of light weight, high strength, high explosion, high reliability and the like; the power joint is used as a power source of the robot, and a torque motor serving as a core power component is required to have high peak torque density, namely, the torque of the motor is required to be output as high as possible per unit weight. However, in the continuous rotation state of the motor rotor, iron loss is generated in the alternating magnetic field of the motor iron core, copper loss is generated after the winding is electrified, and other types of loss are generated, and the temperature of the motor is increased due to the loss. When the temperature rise of the motor exceeds the maximum working temperature, the motor is damaged, and the stability of the power joint is further damaged; the design of high explosion torque of the motor is finally necessarily limited by the overhigh temperature rise brought by the high overload of the motor.
When the existing motor is used for heat dissipation, natural air cooling, liquid cooling and oil cooling modes are generally adopted. The natural air cooling is to do no structural change to the motor, the heat energy that the motor produced conducts to the external environment in order to carry out natural cooling, and this cooling mode cooling speed is slow, and to the bionic robot that high explosive force required, can not satisfy its heat dissipation requirement at all. The liquid cooling is that a liquid cooling water channel is arranged in the shell of the motor, and the refrigerating fluid circularly flows in the liquid cooling water channel to achieve the purpose of cooling; this method requires a separate liquid cooling device and a liquid cooling water passage inside the casing and a liquid cooling device outside the casing. In some large asynchronous motors, an oil cooling mode or a heat dissipation mode of connecting cooling fans in series is also adopted, the oil cooling needs to arrange a liquid cooler used for enabling oil to flow circularly inside or outside the motor, and the cooling fans need to be provided with specially designed protective structures. Although the liquid cooling, oil cooling or cooling fan adding mode can meet the heat dissipation requirement of the motor, the size is large, the structure of the heat dissipation device is complex, and the requirements of light weight and compactness of the bionic robot are not met. Therefore, it is necessary to design an effective heat dissipation structure suitable for the torque motor and the joints of the bionic robot.
Disclosure of Invention
In view of the above, the present disclosure provides a robot power joint with a turbulent heat dissipation structure and a robot, so as to solve one or more problems in the prior art.
According to one aspect of the invention, the invention discloses a power joint with a turbulent flow heat dissipation structure, which comprises a motor, a joint shell and an end packaging part, wherein the motor is installed in a hollow cavity formed by the joint shell, the end packaging part is positioned at the end part of the motor, a first gap is formed between a rotor and a stator of the motor, and a first end gap is formed between a first end of the rotor and the end packaging part;
the middle part of the rotor is provided with an axial through cavity, and a plurality of axial airflow channels are formed in the axial through cavity through a spacer;
a second gap is formed between the circumferential surface of the stator and the joint shell, a second end gap is formed between the first end of the stator and the end part packaging part, and the first end of the stator and the first end of the rotor are the same end of the motor;
the axial airflow channel, the first end gap and the first gap form a communicated first air duct; the axial airflow air duct, the second end gap and the second gap form a communicated second air duct; and one end of the joint shell, which is far away from the gap of the first end part, is provided with a plurality of heat dissipation flow channels for communicating the hollow cavity with the outside, so that the first air channel and the second air channel are communicated with the outside, and airflow flows along the first air channel and the second air channel in the rotating state of the rotor.
In some embodiments of the invention, the winding heads of the stator are fitted with heat dissipating fins.
In some embodiments of the present invention, the heat dissipation fins are a plurality of heat dissipation fins evenly arranged circumferentially at the winding end portion of the stator.
In some embodiments of the invention, the spacer is a blade extending radially along a rotor central axis to an inner wall of the rotor within the axial through-cavity of the rotor.
In some embodiments of the invention, the rotor and the blade are of unitary construction.
In some embodiments of the present invention, an end of the joint housing away from the first end gap has a joint flange, and each heat dissipation flow passage includes a ventilation groove opened in a circumferential direction of the end of the joint housing away from the first end gap and a through hole arranged on the joint flange.
In some embodiments of the present invention, the ventilation grooves and the through holes of the plurality of heat dissipation flow passages are uniformly arranged in the circumferential direction of the joint housing and in the circumferential direction of the joint flange, respectively.
In some embodiments of the present invention, the number of the heat dissipation flow channels is equal to the number of slots of the stator, and the ends of the heat dissipation flow channels are flush with the winding ends of the stator.
In some embodiments of the present invention, the heat radiating fins and the winding end portion of the stator are caulked with a thermally conductive material.
According to another aspect of the present invention, there is provided a biomimetic robot comprising a power joint having a turbulent heat dissipation structure as described above.
According to the power joint with the turbulent flow heat dissipation structure, the rotor of the motor is provided with the axial airflow channel, so that a first air channel and a second air channel are formed inside the power joint; a heat dissipation flow channel for communicating the first air channel and the second air channel with the outside is arranged at the end part of the inner cavity of the joint shell for packaging the motor; under the rotation action of the motor rotor, external air can flow along the first air channel and the second air channel, so that the convection heat dissipation capacity between the motor and the joint shell is enhanced, the transient temperature rise of the motor in a peak state is reduced, the bearing capacity of the motor is improved, and the stability of the power joint is ensured; and the power joint does not need to be additionally provided with other heat dissipation devices, so that the requirements of weight reduction and compactness of the robot are met on the premise of meeting the heat dissipation requirement.
In addition, the winding end part of the stator is provided with the radiating fins, so that the radiating area of the winding end part is increased, the radiating efficiency of the winding end part is improved, and the phenomenon that the motor is damaged due to temperature rise of the winding end part is avoided; and the radiating fins at the end part of the winding are combined with a convection radiating structure in the power joint, so that the convection radiating capacity of the end part of the winding is further enhanced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:
fig. 1 is a schematic structural diagram of a stator and a rotor of a motor according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a joint shell according to an embodiment of the present invention;
fig. 3 is a schematic internal structural view of a power joint according to an embodiment of the present invention.
Reference numerals:
110: the rotor 111: first slit 112: axial air flow channel
113: the blades 114: first end gap 120: stator
121: second slit 122: the heat dissipation fins 124: second end gap
200: the joint housing 210: heat dissipation flow channel 220: joint flange
300: end cap
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
It should be emphasized that the term "comprises/comprising/comprises/having" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It should be noted that the terms of orientation and orientation used in the present specification are relative to the position and orientation shown in the drawings; the term "coupled" herein may mean not only directly coupled, but also indirectly coupled, in which case intermediates may be present, if not specifically stated. A direct connection is one in which two elements are connected without the aid of intermediate elements, and an indirect connection is one in which two elements are connected with the aid of other elements. It should be understood that the dynamic joint in this document can be applied to an arm structure of an industrial robot, and can also be applied to a leg structure of a legged robot.
In order to enhance the turbulent flow heat dissipation capability between the motor and the joint shell and ensure the stable output and the structural compactness of the power joint, the embodiment of the invention provides the power joint with the turbulent flow heat dissipation structure, and fig. 3 is a schematic structural view of the power joint with the turbulent flow heat dissipation structure in the embodiment of the invention; as shown in fig. 3, the power joint includes a motor, a joint housing 200, and an end packing member, wherein the joint housing 200 has a cavity structure; the motor includes a stator 120 and a rotor 110, and the stator 120 and the rotor 110 are installed within a hollow cavity of the joint housing 200. In order to ensure efficient rotation of the rotor 110 of the motor, a first gap 111 is provided between the stator 120 and the rotor 110. The end part packaging part is positioned at the end part of the motor and forms a closed hollow cavity with the joint shell 200; further, the first end of the rotor 110 has a first end gap 114 with the end enclosure component; specifically, the end enclosure component may be the end cover 300, and in this case, the first end gap 114 is a gap formed between the end of the rotor 110 and the end cover 300, and the first end gap 114 may be a flow gap for the airflow.
In the present invention, the stator 120 is sleeved outside the rotor 110, the middle of the rotor 110 has an axial through cavity, and the axial through cavity forms two or more axial airflow channels 112 through one or more spacers, and the axial airflow channels 112, the first end gap 114 and the first gap 111 form a first air duct communicating with each other. Further, a second gap 121 is formed between the outer circumferential surface of the stator 120 and the inner cavity wall of the joint housing, and a second end gap 124 is also formed between the first end of the stator 120 and the end enclosure, and it should be noted that the first end of the stator 120 and the first end of the rotor 110 are located at the same end of the motor, and the end enclosure adjacent to the stator 120 and the rotor 110 may also be the same. Similarly, the second end gap 124 may be a gap formed between the end of the stator 120 and the end cover 300, and the axial air flow passage 112, the second end gap 124 and the second gap 121 form a second air duct in communication. It is noted that the end enclosure may be other than an end cap, for example, when the joint housing 200 is a split structure having an upper half and a lower half, the end enclosure may also be an end wall of a hollow cavity located in the joint housing 200 itself.
The hollow cavity of the joint housing 200 further has a plurality of heat dissipation channels 210 at an end thereof away from the first end gap 114, and the heat dissipation channels 210 enable both the first air duct and the second air duct to communicate with the outside. In a rotating state of the rotor 110, the high-speed rotation of the rotor 110 may drive the airflow to flow along the first air duct and the second air duct. The strong convection air formed by the self-air-cooling turbulent flow heat dissipation structure in the motor enhances the convection heat dissipation capability between the motor and the joint shell.
Further, the specific structure of the heat dissipation flow channel 210 may be a hole or a ventilation groove structure communicating with the outside; as can be seen from the joint housing shown in fig. 2, the joint housing 200 may be a cylindrical barrel structure having a hollow part, a part of the hollow part of the barrel structure serving as an inner cavity for enclosing the stator 120 and the rotor 110, and an end wall of the inner cavity has a hole for protruding the motor output shaft to the outside of the joint housing 200. The end of the joint housing 200 of the cylindrical barrel structure away from the first end gap 114 may also be provided with a joint flange 220, the joint flange 220 being used to connect the joint housing 200 to other components, such as the body or limbs of a robot; the knuckle flange 220 has a plurality of rectangular long grooves arranged along the axial direction, and the plurality of rectangular long grooves are used as heat dissipation flow channels 210 to communicate the outside and an inner cavity for packaging the stator 120 and the rotor 110; in addition, the heat dissipation flow channel 210 can also be regarded as a ventilation groove formed in the circumferential direction of the joint housing 200 and a through hole disposed in the joint flange 220, the through hole communicating with the ventilation groove. In addition, the specific structure of the heat dissipation flow channel 210 may be changed according to the specific structure of the joint housing 200; for example, the end of the inner cavity of the joint housing 200 may have only one inner cavity end wall, the stator 120 and the rotor 110 of the motor are both enclosed in the inner cavity, the center of the inner cavity end wall has a through hole, the output shaft of the motor extends from the through hole to the outside of the joint, and the inner cavity end wall may also be provided with only slot holes as the heat dissipation flow channels 210 for communicating the first air duct and the second air duct with the outside.
In addition, the plurality of heat dissipation flow channels 210 on the joint housing 200 of the cylindrical barrel structure may be uniformly distributed along the circumference of the joint housing 200, or arranged in a mirror image along the circumference of the joint housing 200. And the joint housing 200 may have other structural shapes having a cavity structure than the cylindrical cylinder, such as a square structure; specifically, a cylindrical inner cavity may be provided at one end of the square joint housing 200, and the stator 120 of the motor is disposed in the cylindrical inner cavity. One end of the cylindrical inner cavity of the square joint housing 200 may also be encapsulated by the end cap 300, and an end away from the first end gap may also be provided with a joint flange structure similar to the cylindrical joint housing, and a plurality of grooves or through holes for communicating the cylindrical inner cavity with the outside may be provided on the joint flange structure to serve as a heat dissipation flow passage. It should be understood that the specific number and the specific distribution mode of the heat dissipation channels may be changed as required, as long as it can ensure that the first air channel and the second air channel are both communicated with the outside; in addition, in the rotating state of the rotor 110, the external air may be circulated not only along the first path formed by the axial air flow passage 112, the first end gap 114, the first slit 111, and the heat dissipation flow channel 210, but also along the second path formed by the axial air flow passage 112, the second end gap, the second slit 121, and the heat dissipation flow channel 210.
In the above-described power joint, since the stator 120 and the rotor 110 of the motor are generally closed within the joint housing 200, the stator and the rotor 110 are poor in ventilation and heat dissipation; therefore, the heat dissipation flow channel 210 communicated with the first air channel and the second air channel is arranged on the joint shell 200, and in the rotating state of the rotor 110, airflow is guided to pass through the rotor 110 and the stator 120 of the motor and the joint shell 200, so that the originally static air is converted into a turbulent flow state, and the heat dissipation capacity of the motor is improved. The power joint effectively improves the heat dissipation efficiency of the power joint by arranging the convection heat dissipation channel between the joint shell 200 and the motor; compared with a power joint, the power joint adopts a liquid cooling heat dissipation mode, so that the power joint still keeps a relatively compact structure; compared with a natural air cooling heat dissipation mode, the turbulent flow effect of the air flow avoids the phenomenon that the stator 120 of the motor generates heat accumulation, and therefore the stability of the power joint is guaranteed.
Furthermore, in the running state of the motor, the winding end part of the motor is a weak heat dissipation part, and the heat conduction capability of the winding end part is poorer than that of the winding in the stator slot, so that the heat of the winding end part is difficult to dissipate, and a heat island is easily formed; even burn out the motor when serious, influence the steady operation of motor. Therefore, the invention also arranges the heat dissipation fins 122 at the winding end of the stator 120 to increase the winding end heat dissipation area; the heat dissipation fins 122 further enhance the convection heat dissipation capability of the motor. As shown in fig. 1, the winding end of the stator may be mounted with a plurality of heat dissipating fins 122, and the plurality of heat dissipating fins 122 are uniformly distributed along the circumferential direction of the stator; and further in order to form an effective heat conduction path between the stator end windings and the heat dissipation fins 122, the heat dissipation fins 122 and the winding ends of the stator 120 are caulked by a heat conductive material. It should be understood that the second end gap 124 is now the gap formed between the heat sink fins 122 and the end enclosure component, and the end enclosure component may be the end cap 300; therefore, in the rotating state of the rotor 110, the external air flow can sequentially follow the axial air flow channel 112, the gap between the heat dissipation fins 122 and the end cover 300, the second gap, and the heat dissipation flow channel 210 on the joint housing 200 as a complete air flow path.
In one embodiment of the invention, the spacer inside the rotor 110 of the electric machine may be a blade 113. The vanes 113 extend radially along the central axis of the rotor within the axial through-going cavity of the rotor to the inner wall of the rotor. The blades 113 may also be considered specifically as being arranged in the axial direction of the rotor 110. As shown in fig. 1, the rotor 110 has six vanes 113 arranged in the axial direction within the axial through-cavity, and the six vanes 113 divide the hollow structure into six axial airflow passages 112. The rotation of the rotor 110 may introduce external air flow from the six axial air flow passages 112 to the inside of the motor and split the air flow to the first air passage and the second air passage at the end of the rotor 110, thereby achieving synchronous heat dissipation of the stator 120 and the rotor 110. In addition, the specific arrangement mode of the blades 113 in the axial through cavity of the rotor 110 is not limited, as long as the axial airflow channel 112 of the airflow can be formed, and the convection heat dissipation of the motor and the joint housing 200 is also realized; and the number of axial air flow channels 112 and vanes 113 may also be set according to specific needs. In addition to being formed by the blades 113, the axial air flow passage 112 may be formed by providing a plurality of axially penetrating through holes in the solid rotor shaft itself.
Furthermore, the rotor 110 and the blades 113 can be integrally formed, so that the structure reduces the assembly process of the blades 113 and the rotor 110, improves the processing efficiency and facilitates batch production. In addition, the rotor 110 and the blades 113 can also be two separate components, the blades 113 are detachably fixed in the axial through cavity of the rotor 110, and the specific fixing mode can be screw or bolt fixing; for example, the side surface of the blade 113 may be provided with a fixing hole for connecting with the rotor 110, and a screw or bolt is used to fix the blade 113 on the inner hole wall of the rotor 110 through the fixing hole; alternatively, the blades 113 and the rotor 110 may be connected by other connection aids. In addition, a plurality of blades 113 are arranged on the original rotor shaft with a hollow structure, and the blades 113 can also play a role similar to reinforcing ribs, so that the strength and the bearing capacity of the rotor 110 are further improved.
Further, in order to obtain a better heat dissipation manner by turbulent flow between the motor and the joint housing 200, the number of the heat dissipation channels 210 may be equal to the number of the slots of the stator 120. Further, the end of the heat dissipation flow path 210 is flush with the winding end of the stator 120, so that a short airflow path can be maintained between the motor and the joint housing 200. The path of movement of the forced convection air between the motor and the joint housing 200 within the power joint is shown in fig. 3 with the motor rotor 110 in rotation. At this time, the air enters from the axial airflow channel 112 of the rotor 110, flows through the end of the rotor 110 and the end of the heat dissipation fin 122 at the winding end of the stator 120, and is divided to flow through the first gap 111 between the stator 120 and the rotor 110 and the second gap 121 between the stator 120 and the joint housing 200, and finally flows out of the heat dissipation flow channel 210 of the joint housing 200 through the first gap 111 and the second gap 121; thus realizing one cycle. Through the circulation for many times, the motor realizes continuous self-air-cooling convection heat dissipation.
According to another aspect of the present invention, the invention also provides a bionic robot, which comprises the power joint in the above embodiment. The power joint is used as a main part of the bionic robot, so the performance of the power joint influences the running state of the whole robot; the power joint in the embodiment of the invention is provided with a turbulent flow heat dissipation structure between the motor and the joint shell 200, so that the heat dissipation capacity of the motor in the power joint is improved, and under the condition of continuous large-torque output of the motor, the requirements of the bionic robot on the lightening and compacting of the power joint structure are met, and the stable operation of the robot is also ensured.
According to the embodiment, the power joint provided by the invention has the advantages that the axial airflow channel is arranged on the motor rotor, so that the first air channel and the second air channel are formed inside the power joint; a heat dissipation flow channel for communicating the first air channel and the second air channel with the outside is arranged at the end part of the inner cavity of the joint shell for packaging the motor; under the continuous rotation of the motor rotor, external air can circularly flow along the circumferential surfaces of the motor rotor and the stator, so that the convection heat dissipation capacity between the motor and the joint shell is enhanced, the transient temperature rise of the motor in a peak state is reduced, the bearing capacity of the motor is improved, and the stability of a power joint is ensured; and the turbulent flow heat dissipation structure does not need to adopt other heat dissipation devices, so that the requirements of light weight and compactness of the robot are met on the premise of meeting the heat dissipation requirement.
And the winding end part of the stator is provided with the radiating fins, so that the radiating area of the winding end part is further increased, the radiating efficiency of the winding end part is improved, the phenomenon that the motor is damaged due to heat accumulation of the winding end part is avoided, and the stability of the power joint is further improved.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above-mentioned embodiments illustrate and describe the basic principles and main features of the present invention, but the present invention is not limited to the above-mentioned embodiments, and those skilled in the art should make modifications, equivalent changes and modifications without creative efforts to the present invention within the protection scope of the technical solution of the present invention.
Claims (10)
1. A power joint with a turbulent flow heat dissipation structure is characterized by comprising a motor, a joint shell and an end packaging part, wherein the motor is installed in a hollow cavity formed by the joint shell, the end packaging part is located at the end of the motor, a first gap is formed between a rotor and a stator of the motor, and a first end gap is formed between a first end of the rotor and the end packaging part;
the middle part of the rotor is provided with an axial through cavity, and a plurality of axial airflow channels are formed in the axial through cavity through a spacer;
a second gap is formed between the circumferential surface of the stator and the joint shell, a second end gap is formed between the first end of the stator and the end part packaging part, and the first end of the stator and the first end of the rotor are the same end of the motor;
the axial airflow channel, the first end gap and the first gap form a communicated first air duct; the axial airflow air duct, the second end gap and the second gap form a communicated second air duct; and one end of the joint shell, which is far away from the gap of the first end part, is provided with a plurality of heat dissipation flow channels for communicating the hollow cavity with the outside, so that the first air channel and the second air channel are communicated with the outside, and airflow flows along the first air channel and the second air channel in the rotating state of the rotor.
2. The power joint with turbulent heat dissipation structure as claimed in claim 1, wherein the winding end of the stator is mounted with heat dissipation fins.
3. The power joint with turbulent heat dissipation structure as claimed in claim 2, wherein the heat dissipation fins are a plurality of heat dissipation fins evenly arranged circumferentially at the winding end of the stator.
4. The power joint with a turbulent heat dissipating structure according to claim 1, wherein the spacer is a blade extending radially along a rotor center axis to an inner wall of the rotor in the axial through cavity of the rotor.
5. The power joint with turbulent heat dissipation structure as claimed in claim 4, wherein the rotor and the blades are integrally formed.
6. The power joint with the turbulent flow heat dissipation structure as recited in any one of claims 1 to 5, wherein an end of the joint housing away from the first end gap has a joint flange, and each heat dissipation flow channel comprises a ventilation groove formed in a circumferential direction of the end of the joint housing away from the first end gap and a through hole arranged on the joint flange.
7. The power joint with turbulent heat dissipation structure according to claim 6, wherein the ventilation grooves and the through holes of the plurality of heat dissipation flow channels are uniformly arranged in the circumferential direction of the joint housing and in the circumferential direction of the joint flange, respectively.
8. The power joint with turbulent flow heat dissipation structure of claim 7, wherein the number of the heat dissipation flow channels is equal to the number of slots of the stator, and the ends of the heat dissipation flow channels are flush with the winding ends of the stator.
9. The power joint having a structure for dissipating heat by convection according to claim 3, wherein the heat dissipating fins are caulked with the winding end portion of the stator by a heat conductive material.
10. A bionic robot, characterized in that the bionic robot comprises the power joint with the turbulent heat dissipation structure as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368017.8A CN111509912A (en) | 2020-04-30 | 2020-04-30 | Robot power joint with turbulent flow heat dissipation structure and robot |
| PCT/CN2020/101109 WO2021217883A1 (en) | 2020-04-30 | 2020-07-09 | Robot power joint having turbulent flow heat dissipation structure, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368017.8A CN111509912A (en) | 2020-04-30 | 2020-04-30 | Robot power joint with turbulent flow heat dissipation structure and robot |
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|---|---|
| CN111509912A true CN111509912A (en) | 2020-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010368017.8A Pending CN111509912A (en) | 2020-04-30 | 2020-04-30 | Robot power joint with turbulent flow heat dissipation structure and robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN111509912A (en) |
| WO (1) | WO2021217883A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113941997A (en) * | 2021-11-18 | 2022-01-18 | 华中科技大学鄂州工业技术研究院 | Underwater electric manipulator with open structure |
| CN114633281B (en) * | 2022-02-28 | 2023-12-29 | 浙江大学 | Anti-roll high-power-density robot joint driving unit |
| CN114928203B (en) * | 2022-07-20 | 2022-10-25 | 江苏航天动力机电有限公司 | Motor with multinomial extension formula heat dissipation mechanism |
| CN116117857B (en) * | 2022-09-30 | 2023-08-15 | 广东天太机器人有限公司 | Robot joint module |
| CN117856511B (en) * | 2024-03-01 | 2024-06-18 | 科弛医疗科技(北京)有限公司 | Motor heat abstractor, apparatus actuating mechanism and surgical robot device |
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| CN110518722A (en) * | 2019-07-17 | 2019-11-29 | 南京师范大学 | A kind of combined high-speed magneto cooling device |
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- 2020-04-30 CN CN202010368017.8A patent/CN111509912A/en active Pending
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| JPH05103444A (en) * | 1991-10-07 | 1993-04-23 | Honda Motor Co Ltd | Cooling structure for motor |
| JP2006087172A (en) * | 2004-09-14 | 2006-03-30 | Hitachi Industrial Equipment Systems Co Ltd | Stator for rotating electric machine |
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| WO2021217883A1 (en) | 2021-11-04 |
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