WO2024037046A1 - 一种能强制对流散热的关节电机 - Google Patents

一种能强制对流散热的关节电机 Download PDF

Info

Publication number
WO2024037046A1
WO2024037046A1 PCT/CN2023/091660 CN2023091660W WO2024037046A1 WO 2024037046 A1 WO2024037046 A1 WO 2024037046A1 CN 2023091660 W CN2023091660 W CN 2023091660W WO 2024037046 A1 WO2024037046 A1 WO 2024037046A1
Authority
WO
WIPO (PCT)
Prior art keywords
primary
wheel
center wheel
gear
planet
Prior art date
Application number
PCT/CN2023/091660
Other languages
English (en)
French (fr)
Inventor
朱世强
谢安桓
程超
孔令雨
华强
周伟刚
姚运昌
Original Assignee
之江实验室
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 之江实验室 filed Critical 之江实验室
Publication of WO2024037046A1 publication Critical patent/WO2024037046A1/zh

Links

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/35—Devices for recording or transmitting machine parameters, e.g. memory chips or radio transmitters for diagnosis
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/207—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium with openings in the casing specially adapted for ambient air
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Definitions

  • the invention relates to the technical field of joint motors, and in particular to a joint motor capable of forced convection heat dissipation.
  • joint motors are used in heavy-duty, low-speed applications.
  • the internal stator and rotor have low working efficiency and high heating power, which further leads to a decline in the electrical characteristics of the joint motor.
  • the lubrication effect of grease and the coordination of precision parts, etc. cause increased friction, vibration and noise, further reducing the mechanical characteristics of the joint motor.
  • the commonly used solutions at present are to use high-performance stators, rotors and drives, or to add external heat dissipation structures and supplement them with forced heat exchange such as axial fans.
  • the patent specification with announcement number CN112003421B discloses a high-performance stator permanent magnet bearingless motor.
  • the bearings at both ends of the motor body can be eliminated to avoid contact with the bearings when the rotary column rotates. Friction is generated between them to achieve the purpose of improving the performance of the bearingless motor; the rotating column penetrates the inside of the isolation ring close to the middle position, and several conduits are fixedly connected to the inner surface of the second connecting collar so that the rotating column does not directly interact with the isolation ring when rotating.
  • the first heat is generated when working. Through the rotation of several cooling fan blades, the first heat is transmitted to the outside of the motor body through the heat dissipation network.
  • the patent specification with announcement number CN214674758U discloses an intelligent heat dissipation device for a robot motor, which includes a robot motor connected to an air compressor through a ventilator; the robot motor is provided with an air inlet connected to the ventilator. mouth and exhaust port, the air compressor is provided with an air distribution chamber connected to a high-speed fan, and the air distribution chamber is provided with an air outlet connected to the ventilation pipe; it also includes a computer, the computer and the robot
  • the sensors provided in the motor are connected to each other, and the operation of the high-speed fan is controlled based on the information transmitted by the sensors.
  • the first method is to improve the working efficiency of the motor by improving the electrical performance.
  • High-performance electrical components will greatly increase the cost of the joint motor, and the design of the joint motor is seriously limited by the structure of the electrical components;
  • the second method realizes the structure. Simple and mature, but requires compactness For a footed robot with extremely high requirements, due to the large number of joint motors, installation is extremely difficult, which will cause the weight and volume of the robot to increase significantly.
  • the object of the present invention is to provide a joint motor capable of forced convection heat dissipation, which can forcibly drive away higher-temperature gases inside the joint motor and accelerate external lower-temperature gases into the interior of the joint motor, thereby strengthening convection exchange and improving forced convection heat dissipation of the joint motor. performance.
  • An articulated motor capable of forced convection heat dissipation including a casing, an outer rotor motor and a first-level planetary reduction mechanism and a second-level planetary reduction mechanism sequentially connected to the outer rotor motor.
  • the primary center wheel of the planetary reduction mechanism is connected with the secondary center wheel axle hole of the secondary planetary reduction mechanism and communicates with the outside world.
  • the secondary center wheel is covered with an impeller, and there are through-holes along the circumferential direction of the impeller.
  • the first radial air hole of the impeller and the secondary center wheel is provided with a second radial air hole in the outer shell at a position corresponding to the first radial air hole in the circumferential direction.
  • the outer rotor motor includes a motor rotor support frame, an outer rotor motor rotor and an outer rotor motor stator.
  • the outer rotor motor stator is coaxially disposed inside the outer rotor motor rotor, and the outer rotor motor rotor is connected to the outer rotor motor rotor.
  • the outer ring of the motor rotor support frame is coaxially fixed, and the first-level center wheel is coaxially fixed with the inner ring of the motor rotor support frame.
  • both ends of the primary center wheel are rotatably connected to the housing and the ends of the secondary center wheel respectively, and the primary planetary reduction mechanism further includes a planetary gearbox coaxially fixed in the housing.
  • a primary ring gear a plurality of primary planetary gears evenly distributed in the circumferential direction between the primary center wheel and the primary ring gear and meshing with the primary ring gear and the primary center wheel gears respectively;
  • the primary planet wheel pressing end cover assembly restricts the primary planet wheel to the end of the secondary center wheel.
  • the primary planet wheel pressing end cover assembly includes a primary planet wheel pressing end cover fixed on the end of the secondary center wheel and a first rotating shaft corresponding to each of the primary planet wheels.
  • the first-level planet wheel is rotatably arranged on the first rotating shaft, and the two ends of the first rotating shaft are respectively fixedly connected with the first-level planet wheel pressing end cover and the second-level center wheel.
  • the secondary planetary reduction mechanism further includes a secondary planetary gear carrier coaxially rotatably installed in the housing, a secondary ring gear coaxially fixed in the housing, and a plurality of secondary planetary gear carriers evenly distributed in the circumferential direction at the secondary center.
  • the secondary planet gear is between the secondary ring gear and the secondary ring gear and meshes with the secondary ring gear and the gear on the secondary sun wheel respectively, and is used to limit the secondary planet wheel to the secondary
  • the secondary planet wheel on the planet carrier presses the end cover assembly, and the two ends of the secondary center wheel are rotatably connected to the housing and the secondary planet carrier respectively.
  • the secondary planet wheel pressing end cover assembly includes a secondary planet wheel pressing end cover fixed on the secondary planet wheel carrier and a second rotating shaft corresponding to each of the secondary planet wheels, so The secondary planet gear is rotatably arranged on the second rotating shaft, and both ends of the second rotating shaft are respectively fixedly connected to the secondary planet gear pressing end cover and the secondary planet gear carrier.
  • the end of the housing close to the first-stage planetary reduction mechanism is provided with a groove, and an absolute encoder moving disk coaxially fixed to the first-stage center wheel is provided in the groove.
  • a mounting base an absolute encoder moving disk fixed on the absolute encoder moving disk mounting base, and an absolute encoder static disk spaced apart from the absolute encoder moving disk; the absolute encoder moving disk
  • the center hole of the disk mounting seat is connected with the shaft holes of the first-level center wheel and the second-level center wheel.
  • the absolute encoder moving disk is coaxially connected to the first-level center wheel through the absolute encoder moving disk mounting seat and follows it.
  • the absolute encoder moving disk and the absolute encoder static disk maintain a certain range. distance to realize the reporting of joint motor rotation position and speed information.
  • the impeller adopts a straight blade impeller.
  • Both the center wheel and the planet wheel of the two-stage planetary reduction mechanism adopt support structures at both ends to ensure the parallelism between the axis center of the planet wheel and the center wheel and improve the stability of motion.
  • the straight blade impeller is a follower structure, does not require additional drive circuits, and has a compact structure.
  • Figure 1 is a cross-sectional view of the present invention
  • FIG. 2 is a schematic structural diagram of the heat dissipation air path of the present invention.
  • Figure 3 is a schematic structural diagram of a two-stage planetary reduction mechanism
  • Figure 4 is a schematic structural diagram of the cooperation between the primary center wheel and the secondary center wheel
  • Figure 5 is a schematic structural diagram of a straight blade impeller.
  • a joint motor capable of forced convection heat dissipation includes a casing.
  • the casing specifically includes an input end cover 1, a ring gear support 18 and an output end cover 20 connected in sequence; inside the casing
  • the primary planetary reduction mechanism includes a primary center wheel 7
  • the secondary planetary reduction mechanism includes a secondary center wheel. Wheel 25, the outer rotor motor is connected to the first-level center wheel 7 and the second-level center wheel 25 in turn.
  • the outer rotor motor includes a motor rotor support frame 14, an outer rotor motor rotor 15 and an outer rotor motor stator 16.
  • the outer rotor motor stator 16 is coaxially fixed with the ring gear support 18. Specifically, the ring gear support 18 is close to the first-stage planetary reduction mechanism.
  • a convex ring is provided on the side, and the outer rotor motor stator 16 is sleeved on the convex ring.
  • the outer rotor motor stator 16 is coaxially arranged inside the outer rotor motor rotor 15.
  • the outer rotor motor rotor 15 is coaxial with the outer ring of the motor rotor support frame 14.
  • the inner ring of the motor rotor support frame 14 and the primary center wheel 7 are coaxially screwed.
  • the outer rotor motor rotor 15 drives the primary center wheel 7 fixed to the motor rotor support frame 14 to rotate at high speed and low torque.
  • the rotation of the primary center wheel 7 passes through two stages of planetary deceleration, and finally completes the low speed and high torque output.
  • the first-level planetary reduction mechanism also includes a first-level ring gear 13 coaxially fixed in the ring gear support 18, three circumferential directions evenly distributed between the first-level center wheel 7 and the first-level ring gear 13 and respectively connected with the first-level ring gear 13.
  • the primary planet gear 10 is meshed with the gears on the primary sun wheel 7 and the primary planet gear pressing end cover assembly is used to limit the primary planet gear 10 to the end of the secondary center wheel 25 .
  • the two ends of the primary center wheel 7 are rotated in the ring gear support 18 through the 61800 bearing 6 and the 6705 bearing 9 respectively, and form a double-point support in the end of the secondary center wheel 25;
  • the primary planet wheel presses the end cover assembly It includes a primary planet wheel pressing end cover 8 fixed on the end of the secondary center wheel 25 and a first rotating shaft 11 corresponding to three primary planet wheels 10.
  • the primary planet wheel 10 Two 4x8x3 micro bearings 12 are rotated and arranged on the first rotating shaft 11. One end of the first rotating shaft 11 is fixed on the end of the secondary center wheel 25 through screws, and the other end is fixed on the primary planet wheel pressing end cover 8 through screws. superior.
  • the secondary planetary reduction mechanism also includes a secondary planet gear carrier 27 coaxially rotatably installed in the output end cover 20, a secondary ring gear 21 coaxially fixed in the ring gear support 18, and three secondary planet gear carriers 27 evenly distributed in the circumferential direction.
  • the secondary planet gear 22 is between the center wheel 25 and the secondary ring gear 21 and meshes with the gears on the secondary ring gear 21 and the secondary center wheel 25 respectively, and is used to limit the secondary planet gear 22 to the secondary planet gear carrier.
  • the secondary planetary gear on the 27 presses the end cover assembly.
  • the two ends of the secondary center wheel 25 are rotated in the ring gear support 18 and on the secondary planet carrier 17 through the 6707 bearing 17 and the 7000C bearing 26 respectively to form a double-point support; the secondary planet carrier 27 is rotated through cross rollers.
  • the sub-bearing 19 is rotatably arranged in the output end cover 20. Specifically, the inner ring of the crossed roller bearing 19 cooperates with the secondary planetary carrier 27, and the outer ring cooperates with the output end cover 20 and is axially pressed, thereby improving the secondary planetary gear carrier.
  • the second-stage planetary wheel pressing end cover assembly includes a fixed part on the second-stage planetary carrier 27
  • the second rotating shaft is specifically a camshaft 2711 integrally formed on the secondary planet gear carrier 27.
  • the secondary planet gear Two 6x12x4 micro bearings 23 are rotated and arranged on the cam shaft 2711, and the other end of the cam shaft 2711 is fixed on the secondary planetary wheel pressing end cover 24 through screws.
  • the secondary planet wheel pressing end cover 24 is also provided with a 6710 bearing 28. Specifically, the inner ring of the 6710 bearing 28 cooperates with the secondary planet wheel pressing end cover 24, and the outer ring cooperates with the ring gear support 18 and is axially Press down.
  • the above-mentioned center wheel and planet wheel both adopt support structures at both ends to ensure the parallelism between the axis center of the planet wheel and the center wheel axis and improve the stability of movement.
  • 61800 bearing 6 and 7000C bearing 26 ensure the first-level center wheel 7 and the second-level center wheel 25
  • the differential movement between the planetary gear carrier 27 and the secondary planetary gear carrier 27 fills the gap, which is beneficial to the flow of air in the axis hole.
  • a groove is provided on the end of the input end cover 1 away from the first-stage planetary reduction mechanism, and an absolute encoder moving disk mounting seat coaxially fixed with the first-stage center wheel 7 is provided in the groove. 5.
  • the absolute encoder moving disk 3 fixed on the absolute encoder moving disk mounting seat 5 and the absolute encoder static disk 4 spaced apart from the absolute encoder moving disk 3; specifically, the input end cover 1 There is a boss in the groove.
  • the absolute encoder static disk 4 is located on the boss and is fixedly connected to the input end cover 1, so as to be coaxially connected to the ring gear support 18.
  • the input end cover 1 is also installed useful for
  • the encoder protective cover 2 with encapsulated groove is used to protect the absolute encoder static disk 4;
  • the absolute encoder moving disk 3 is coaxially fixed with the first-stage center wheel 7 through the absolute encoder moving disk mounting seat 5 And following the movement, the absolute encoder moving disk 3 and the absolute encoder stationary disk 4 maintain a distance within a certain range to realize the reporting of joint motor rotation position and speed information.
  • the secondary center wheel 25 is provided with a straight blade impeller 29.
  • the straight blade impeller 29 is specifically composed of two symmetrically distributed parts and is coaxially connected with the secondary center wheel 25; there are through-straight holes along the circumferential direction of the straight blade impeller 29.
  • the first radial air hole of the blade impeller 29 and the secondary center wheel 25 is specifically the radial waist hole 2911 axially provided on the straight blade impeller 29 and the secondary center wheel 25; as shown in Figure 5 , there are multiple radial waist holes 2911 for the convection in and out of gas, and the straight blade impeller 29 has multiple straight blades 2912.
  • the straight blade impeller 29 is specifically connected to the secondary center wheel 25 through a plurality of mounting holes 2913 thereon.
  • the absolute encoder moving plate mounting seat 5, the primary center wheel 7, the secondary center wheel 25 and the secondary planetary gear carrier 27 all have center holes.
  • the absolute encoder moving plate mounting seat center hole 511, the primary The center wheel center hole 711, the secondary center wheel center hole 2511 and the secondary planetary carrier center hole 2712 are coaxially connected to form a central axial air path, and are all connected to the radial waist hole 2911 (first radial air hole), such as As shown in FIG. 2 , the ring gear support 18 is provided with a second radial air hole 1811 along the circumferential direction at a position corresponding to the radial waist hole 2911 .
  • the straight blade impeller 29 rotates with the secondary center wheel 25 to disturb the hot gas in the central axial air path, enhance the convection effect, and achieve forced convection heat dissipation;
  • the ring gear support 18 is fixedly connected to the outer rotor motor stator 16, the main heating element of the joint motor. It absorbs heat through thermal conduction and then heats up. Due to the temperature gradient, the hot gas in the central axial air path flows out through the second radial air hole 1811, with a lower temperature. The gas flows in through the radial waist hole 2911 to achieve convection heat dissipation.
  • joint motor of the present invention is not suitable for use in dusty conditions due to the existence of heat dissipation air paths. Otherwise, dust intrusion into the meshing surface of the planetary gear will cause an increase in friction and a decrease in the transmission efficiency of the joint motor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Motor Or Generator Cooling System (AREA)
  • General Details Of Gearings (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

本发明公开了一种能强制对流散热的关节电机，包括壳体，所述壳体内设置有外转子电机以及与所述外转子电机依次传动连接的一级行星减速机构、二级行星减速机构，所述一级行星减速机构的一级中心轮与所述二级行星减速机构的二级中心轮轴孔连通且与外界相通，所述二级中心轮上套设有叶轮，沿所述叶轮周向开设有贯穿所述叶轮及所述二级中心轮的第一径向气孔，所述外壳沿周向对应所述第一径向气孔的位置开设有第二径向气孔。本发明能够强制驱离关节电机内部较高温气体，并使外部较低温气体加速进入关节电机内部，加强对流交换，提高关节电机的强制对流散热性能。

Description

一种能强制对流散热的关节电机 技术领域
本发明涉及关节电机技术领域，具体涉及一种能强制对流散热的关节电机。
背景技术
目前，在足式机器人领域，关节电机由于重载低速的应用场景，内部的定、转子工作效率低、发热功率大，进一步导致关节电机的电气特性下降；关节电机温升高之后，亦会影响润滑脂的润滑效果、精密件的配合情况等，引起摩擦、振动及噪音的增大，进一步降低关节电机的机械特性。目前常用的解决办法是选用高性能定转子和驱动器，或者外部增加散热结构并辅以轴流风扇等强制换热。
公告号为CN112003421B的专利说明书中公开了一种高性能定子永磁式无轴承电机，通过设置的隔离环和导管的配合使用，可以将电机本体两端的轴承取消，避免转柱转动时与轴承之间产生摩擦，达到提高无轴承电机性能的目的；转柱贯穿隔离环的内部靠近中间的位置，若干个导管固定连接在第二连接轴环的内表面，使得转柱转动时不与隔离环直接接触，转子铁芯、定子铁芯和定子绕组工作时产生第一热量，通过若干个散热扇叶的转动，第一热量通过散热网传送至电机本体的外部。
公告号为CN214674758U的专利说明书中公开了一种机器人电机智能散热装置，包括机器人电机，所述机器人电机经通气管与空气压缩机连接；所述机器人电机设有与所述通气管相连的进气嘴及排气口，所述空气压缩机设有与高速风扇连通的分气室，所述分气室设有与所述通气管相连的出气嘴；还包括计算机，所述计算机与所述机器人电机内设有的传感器相连，依据所述传感器传输的信息控制所述高速风扇的运转。
上述现有技术中，方法一是通过提升电气性能提高电机工作效率，高性能电气元件会大幅度提升关节电机的成本，并使关节电机的设计严重受限于电气元件的结构；方法二实现结构简单、成熟，但对于结构紧凑性要 求极高的足式机器人而言，由于关节电机数量多，安装难度极大，会造成机器人整机重量和体积的大幅度上升。
发明内容
本发明的目的在于提供一种能强制对流散热的关节电机，能够强制驱离关节电机内部较高温气体，并使外部较低温气体加速进入关节电机内部，加强对流交换，提高关节电机的强制对流散热性能。
一种能强制对流散热的关节电机，包括壳体，所述壳体内设置有外转子电机以及与所述外转子电机依次传动连接的一级行星减速机构、二级行星减速机构，所述一级行星减速机构的一级中心轮与所述二级行星减速机构的二级中心轮轴孔连通且与外界相通，所述二级中心轮上套设有叶轮，沿所述叶轮周向开设有贯穿所述叶轮及所述二级中心轮的第一径向气孔，所述外壳沿周向对应所述第一径向气孔的位置开设有第二径向气孔。
本方案中，关节电机内部有贯穿关节电机的中心轴向气路，周向开设了径向气路，中心轴向气路与径向气路相连形成散热气路，通过内置叶轮的转动，将关节电机运行产生的热量通过空气对流带出，实现对关节电机的降温，提升关节电机工作效率和使用寿命，降低运行噪音。
作为优选，所述外转子电机包括电机转子支撑架、外转子电机转子和外转子电机定子，所述外转子电机定子同轴设置于所述外转子电机转子内侧，所述外转子电机转子与所述电机转子支撑架的外圈同轴固结，所述一级中心轮与所述电机转子支撑架的内圈同轴固结。
作为优选，所述一级中心轮的两端分别与所述壳体及所述二级中心轮的端部转动连接，所述一级行星减速机构还包括同轴固结于所述壳体内的一级齿圈、若干周向均布于所述一级中心轮与所述一级齿圈之间且分别与所述一级齿圈及所述一级中心轮上齿轮啮合的一级行星轮以及用于将所述一级行星轮限位于所述二级中心轮的端部上的一级行星轮压紧端盖组件。
进一步优选，所述一级行星轮压紧端盖组件包括固定在所述二级中心轮的端部上的一级行星轮压紧端盖以及与各所述一级行星轮对应的第一转轴，所述一级行星轮转动设置于所述第一转轴上，所述第一转轴的两端分别与所述一级行星轮压紧端盖和所述二级中心轮固连。
作为优选，所述二级行星减速机构还包括同轴转动设置于壳体内的二级行星轮架、同轴固结于所述壳体内的二级齿圈、若干周向均布于所述二级中心轮与所述二级齿圈之间且分别与所述二级齿圈及所述二级中心轮上齿轮啮合的二级行星轮以及用于将所述二级行星轮限位于所述二级行星轮架上的二级行星轮压紧端盖组件，所述二级中心轮的两端分别与所述壳体及所述二级行星轮架转动连接。
进一步优选，所述二级行星轮压紧端盖组件包括固定在所述二级行星轮架上的二级行星轮压紧端盖及与各所述二级行星轮对应的第二转轴，所述二级行星轮转动设置于所述第二转轴上，所述第二转轴的两端分别与所述二级行星轮压紧端盖和所述二级行星轮架固连。
作为优选，所述壳体靠近所述一级行星减速机构侧的端部上设置有凹槽，所述凹槽内设置有与所述一级中心轮同轴固连的绝对值编码器动盘安装座、固定在所述绝对值编码器动盘安装座上的绝对值编码器动盘以及与所述绝对值编码器动盘间隔设置的绝对值编码器静盘；所述绝对值编码器动盘安装座的中心孔与所述一级中心轮及所述二级中心轮的轴孔连通。
本方案中，绝对值编码器动盘通过绝对值编码器动盘安装座与一级中心轮同轴固连并随动，绝对值编码器动盘和绝对值编码器静盘保持一定范围内的距离，实现关节电机转动位置及速度信息的上报。
作为优选，所述叶轮采用直叶叶轮。
本发明的有益效果：
(1)利用轴向和径向气孔，通过内置叶轮的转动，将关节电机运行产生的热量通过空气对流带出，实现对关节电机的降温，提升关节电机工作效率和使用寿命，降低运行噪音。
(2)两级行星减速机构的中心轮和行星轮都采用两端支撑结构，保证行星轮轴心与中心轮轴心的平行度，提高运动平稳性。
(3)直叶叶轮为随动结构，无需额外驱动电路，结构紧凑。
附图说明
图1为本发明的剖视图；
图2为本发明散热气路的结构示意图；
图3为两级行星减速机构的结构示意图；
图4为一级中心轮与二级中心轮配合的结构示意图；
图5为直叶叶轮结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1、3和4所示，一种能强制对流散热的关节电机，包括壳体，壳体具体包括依次连接的输入端端盖1、齿圈支撑18及输出端端盖20；壳体内设置有外转子电机以及与外转子电机依次传动连接的一级行星减速机构、二级行星减速机构，具体地，一级行星减速机构包括一级中心轮7，二级行星减速机构包括二级中心轮25，外转子电机依次与一级中心轮7、二级中心轮25传动连接。
外转子电机包括电机转子支撑架14、外转子电机转子15和外转子电机定子16，外转子电机定子16与齿圈支撑18同轴固结，具体地，齿圈支撑18靠近一级行星减速机构侧设置有凸环，外转子电机定子16套设在凸环上，外转子电机定子16同轴设置于外转子电机转子15内侧，外转子电机转子15与电机转子支撑架14的外圈同轴固结，电机转子支撑架14的内圈与一级中心轮7同轴螺钉固结。通电后，外转子电机转子15带动与电机转子支撑架14固结的一级中心轮7高速低扭矩转动，一级中心轮7的转动通过两级行星减速，最终完成低速高扭矩输出。
一级行星减速机构还包括同轴固结于齿圈支撑18内的一级齿圈13、三个周向均布于一级中心轮7与一级齿圈13之间且分别与一级齿圈13及一级中心轮7上齿轮啮合的一级行星轮10以及用于将一级行星轮10限位于二级中心轮25的端部上的一级行星轮压紧端盖组件。
具体地，一级中心轮7两端分别通过61800轴承6和6705轴承9转动设置于齿圈支撑18内以及二级中心轮25的端部内形成双点支撑；一级行星轮压紧端盖组件包括固定在二级中心轮25的端部上的一级行星轮压紧端盖8以及与三个一级行星轮10对应的第一转轴11，一级行星轮10 通过两个4x8x3微型轴承12转动设置于第一转轴11上，第一转轴11的一端通过螺钉固定在二级中心轮25端部上，另一端通过螺钉固定在一级行星轮压紧端盖8上。
二级行星减速机构还包括同轴转动设置于输出端端盖20内的二级行星轮架27、同轴固结于齿圈支撑18内的二级齿圈21、三个周向均布于二级中心轮25与二级齿圈21之间且分别与二级齿圈21及二级中心轮25上齿轮啮合的二级行星轮22以及用于将二级行星轮22限位于二级行星轮架27上的二级行星轮压紧端盖组件。
具体地，二级中心轮25的两端分别通过6707轴承17和7000C轴承26转动设置于齿圈支撑18内及二级行星轮架17上形成双点支撑；二级行星轮架27通过交叉滚子轴承19转动设置于输出端端盖20内，具体地，交叉滚子轴承19内圈与二级行星轮架27配合，外圈与输出端端盖20配合并被轴向压紧，提高二级行星轮架27在输出扭矩过程中的抗弯矩能力，也即最终由二级行星轮架27完成低速高扭矩输出；二级行星轮压紧端盖组件包括固定在二级行星轮架27上的二级行星轮压紧端盖24及与三个二级行星轮22对应的第二转轴，第二转轴具体为一体成型于二级行星轮架27上的凸轴2711，二级行星轮通过两个6x12x4微型轴承23转动设置于凸轴2711上，凸轴2711的另一端通过螺钉固定在二级行星轮压紧端盖24上。二级行星轮压紧端盖24上还设置有6710轴承28，具体地，6710轴承28的内圈与二级行星轮压紧端盖24配合，外圈与齿圈支撑18配合并被轴向压紧。
上述中心轮和行星轮都采用两端支撑结构，保证行星轮轴心与中心轮轴心的平行度，提高运动平稳性，同时61800轴承6和7000C轴承26保证一级中心轮7、二级中心轮25和二级行星轮架27之间的差速运动并填充间隙，有利于空气在轴心孔内流动。
本实施例中，输入端端盖1远离一级行星减速机构侧的端部上设置有凹槽，凹槽内设置有与一级中心轮7同轴固连的绝对值编码器动盘安装座5、固定在绝对值编码器动盘安装座5上的绝对值编码器动盘3以及与绝对值编码器动盘3间隔设置的绝对值编码器静盘4；具体地，输入端端盖1的凹槽内设置有凸台，绝对值编码器静盘4位于凸台上并与输入端端盖1固连，从而实现和齿圈支撑18同轴固连，输入端端盖1上还安装有用于 封装凹槽的编码器保护盖2，用于对绝对值编码器静盘4的保护；绝对值编码器动盘3通过绝对值编码器动盘安装座5与一级中心轮7同轴固连并随动，绝对值编码器动盘3和绝对值编码器静盘4保持一定范围内的距离，实现关节电机转动位置及速度信息的上报。
二级中心轮25上套设有直叶叶轮29，直叶叶轮29具体由对称分布的两部分构成且与二级中心轮25共轴心固连；沿直叶叶轮29周向开设有贯穿直叶叶轮29及二级中心轮25的第一径向气孔，第一径向气孔具体为轴向设置在直叶叶轮29及二级中心轮25上的径向腰孔2911；如图5所示，径向腰孔2911有多个，用于气体的对流进出，直叶叶轮29的直叶2912有多个，二级中心轮25正转或者反转时，可以保证被扰动的气体沿径向流动；直叶叶轮29具体通过其上的多个安装孔2913与二级中心轮25固连。
此外，绝对值编码器动盘安装座5、一级中心轮7、二级中心轮25以及二级行星轮架27上均具有中心孔，绝对值编码器动盘安装座中心孔511、一级中心轮中心孔711、二级中心轮中心孔2511与二级行星轮架中心孔2712同轴连通构成中心轴向气路，且均与径向腰孔2911(第一径向气孔)连通，如图2所示；齿圈支撑18沿周向对应径向腰孔2911的位置开设有第二径向气孔1811。直叶叶轮29随二级中心轮25转动，扰动中心轴向气路内的热气体，加强对流效果，实现强制对流散热；
齿圈支撑18与关节电机的主要发热元件外转子电机定子16固连，通过热传导吸收热量后升温，由于温度梯度，中心轴向气路内的热气体通过第二径向气孔1811流出，较低温气体通过径向腰孔2911流入，实现对流散热。
需要注意的是，本发明关节电机，由于散热气路的存在，不适宜用于多粉尘工况下，否则粉尘侵入行星齿轮的啮合面后会引起摩擦力的增加，关节电机传动效率下降。
尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换,凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种能强制对流散热的关节电机，包括壳体，其特征在于，所述壳体内设置有外转子电机以及与所述外转子电机依次传动连接的一级行星减速机构、二级行星减速机构，所述一级行星减速机构的一级中心轮与所述二级行星减速机构的二级中心轮轴孔连通且与外界相通，所述二级中心轮上套设有叶轮，沿所述叶轮周向开设有贯穿所述叶轮及所述二级中心轮的第一径向气孔，所述外壳沿周向对应所述第一径向气孔的位置开设有第二径向气孔。
  2. 根据权利要求1所述的关节电机，其特征在于，所述外转子电机包括电机转子支撑架、外转子电机转子和外转子电机定子，所述外转子电机定子同轴设置于所述外转子电机转子内侧，所述外转子电机转子与所述电机转子支撑架的外圈同轴固结，所述一级中心轮与所述电机转子支撑架的内圈同轴固结。
  3. 根据权利要求1所述的关节电机，其特征在于，所述一级中心轮的两端分别与所述壳体及所述二级中心轮的端部转动连接，所述一级行星减速机构还包括同轴固结于所述壳体内的一级齿圈、若干周向均布于所述一级中心轮与所述一级齿圈之间且分别与所述一级齿圈及所述一级中心轮上齿轮啮合的一级行星轮以及用于将所述一级行星轮限位于所述二级中心轮的端部上的一级行星轮压紧端盖组件。
  4. 根据权利要求3所述的关节电机，其特征在于，所述一级行星轮压紧端盖组件包括固定在所述二级中心轮的端部上的一级行星轮压紧端盖以及与各所述一级行星轮对应的第一转轴，所述一级行星轮转动设置于所述第一转轴上，所述第一转轴的两端分别与所述一级行星轮压紧端盖和所述二级中心轮固连。
  5. 根据权利要求1所述的关节电机，其特征在于，所述二级行星减速机构还包括同轴转动设置于壳体内的二级行星轮架、同轴固结于所述壳体内的二级齿圈、若干周向均布于所述二级中心轮与所述二级齿圈之间且分别与所述二级齿圈及所述二级中心轮上齿轮啮合的二级行星轮以及用于将所述二级行星轮限位于所述二级行星轮架上的二级行星轮压紧端盖组件，所述二级中心轮的两端分别与所述壳体及所述二级行星轮架转动连 接。
  6. 根据权利要求5所述的关节电机，其特征在于，所述二级行星轮压紧端盖组件包括固定在所述二级行星轮架上的二级行星轮压紧端盖及与各所述二级行星轮对应的第二转轴，所述二级行星轮转动设置于所述第二转轴上，所述第二转轴的两端分别与所述二级行星轮压紧端盖和所述二级行星轮架固连。
  7. 根据权利要求1所述的关节电机，其特征在于，所述壳体靠近所述一级行星减速机构侧的端部上设置有凹槽，所述凹槽内设置有与所述一级中心轮同轴固连的绝对值编码器动盘安装座、固定在所述绝对值编码器动盘安装座上的绝对值编码器动盘以及与所述绝对值编码器动盘间隔设置的绝对值编码器静盘；所述绝对值编码器动盘安装座的中心孔与所述一级中心轮及所述二级中心轮的轴孔连通。
  8. 根据权利要求1所述的关节电机，其特征在于，所述叶轮采用直叶叶轮。
PCT/CN2023/091660 2023-01-04 2023-04-28 一种能强制对流散热的关节电机 WO2024037046A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310009131.5 2023-01-04
CN202310009131.5A CN116191767A (zh) 2023-01-04 2023-01-04 一种能强制对流散热的关节电机

Publications (1)

Publication Number Publication Date
WO2024037046A1 true WO2024037046A1 (zh) 2024-02-22

Family

ID=86441656

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/091660 WO2024037046A1 (zh) 2023-01-04 2023-04-28 一种能强制对流散热的关节电机

Country Status (2)

Country Link
CN (1) CN116191767A (zh)
WO (1) WO2024037046A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116995861B (zh) * 2023-09-26 2024-01-09 之江实验室 机器人摆线轮减速电机

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1941418A1 (de) * 1969-08-14 1971-02-25 Hanning Elektro Werke Elektromotor zum Antrieb der Umwaelzgeblaese von Heissluftkammern
CN206023489U (zh) * 2016-09-28 2017-03-15 李明晨 空心轴散热内转子电机和外转子电机
CN211737965U (zh) * 2020-03-31 2020-10-23 广东力丰机械制造有限公司 一种食品机械的行星减速机
CN113276157A (zh) * 2021-06-15 2021-08-20 南方科技大学 一种多级紧凑型电驱动关节模组及机器人
CN115296482A (zh) * 2022-09-29 2022-11-04 深圳小象电动科技有限公司 一种轴向磁通内置行星减速机的轮毂电机

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108377713A (zh) * 2018-01-29 2018-08-10 宁波大叶园林设备股份有限公司 用电动摆线针轮行星传动后轴驱动减速器的园林设备
CN209545364U (zh) * 2019-02-18 2019-10-25 中山大洋电机股份有限公司 一种转子组件及电机
JP7396586B2 (ja) * 2019-11-12 2023-12-12 ニデックアドバンスドモータ株式会社 ブラシレスｄｃモータ、及びドラム回転装置
CN217692968U (zh) * 2022-08-05 2022-10-28 机致科技（北京）有限公司 一种立式集成减速电机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1941418A1 (de) * 1969-08-14 1971-02-25 Hanning Elektro Werke Elektromotor zum Antrieb der Umwaelzgeblaese von Heissluftkammern
CN206023489U (zh) * 2016-09-28 2017-03-15 李明晨 空心轴散热内转子电机和外转子电机
CN211737965U (zh) * 2020-03-31 2020-10-23 广东力丰机械制造有限公司 一种食品机械的行星减速机
CN113276157A (zh) * 2021-06-15 2021-08-20 南方科技大学 一种多级紧凑型电驱动关节模组及机器人
CN115296482A (zh) * 2022-09-29 2022-11-04 深圳小象电动科技有限公司 一种轴向磁通内置行星减速机的轮毂电机

Also Published As

Publication number Publication date
CN116191767A (zh) 2023-05-30

Similar Documents

Publication Publication Date Title
WO2024037046A1 (zh) 一种能强制对流散热的关节电机
JP7121416B2 (ja) 多段ルーツ型ドライ真空ポンプ
EP3910765A1 (en) Power assembly and all-terrain vehicle having same
CN210660229U (zh) 一种膨胀发电一体式高速膨胀机
CN201350802Y (zh) 电动轮毂
CN102545469B (zh) 一种齿轮变挡电机
CN110671165A (zh) 一种膨胀发电一体式高速膨胀机
CN212831080U (zh) 一种风冷式电动滚筒
CN215830748U (zh) 高性能单侧双叶轮气浮高速直驱透平压缩机
CN102223014B (zh) 一种可冷却转子的飞轮储能装置
CN215950273U (zh) 行星齿轮传动总成
CN220151854U (zh) 一种行星减速机
CN115370594A (zh) 自吸冷却式气浮直驱离心鼓风机及工作方法
CN220234412U (zh) 驱动电机自循环润滑冷却系统
CN219227374U (zh) 一种工业风扇电机的散热机构
CN210927338U (zh) 一种微型力矩电机
JPS61251445A (ja) 正逆転モ−タ
CN215733762U (zh) 一种输出高扭矩的低压伺服电机
CN213783019U (zh) 连轴系高空宽温电机
CN210380540U (zh) 大型设备用电机的散热结构
CN116995861B (zh) 机器人摆线轮减速电机
CN114679011B (zh) 一种轻量化全封闭电机转子散热结构
CN217984827U (zh) 一种具有防尘结构的防爆调速器
CN220874356U (zh) 一种密封自冷却电磁调速电机
CN216069584U (zh) 一种电驱系统总成

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23853953

Country of ref document: EP

Kind code of ref document: A1