Heat dissipation structure of robot

Abstract

The invention relates to a heat dissipation structure of a robot, and belongs to the technical field of robot heat dissipation, the heat dissipation structure comprises a robot joint heat dissipation device, a joint arm and a power transmission assembly, the robot joint heat dissipation device comprises a band-type brake body, a band-type brake rotor integrated axial flow fan, a rotor fixing shaft, a motor rotor and a stator, and a fixing shell is arranged on the outer side of the stator; and the brake fixing shell, the PCB control board and the brake fixing shell form an annular air duct. The device further comprises a rear cover, a stepped flow guide ring, a double-code disc, a buffer gasket and a sealing end cover, the power transmission assembly is composed of a synchronous wheel and a synchronous belt and drives the joints to move, accurate heat dissipation of multiple components is achieved through the integrated fan and the flow guide ring, space energy consumption is saved through cooperation of power and heat dissipation, and meanwhile transmission stability and protection performance are improved; and the device adapts to various robot joints, and the maintenance and adaptation cost is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot heat dissipation, and particularly relates to a heat dissipation structure of a robot. BACKGROUND

[0002] With the development of robot technology in the direction of precision, miniaturization and high load, the robot joint, as the core component of power transmission and action execution, integrates various high-heat components such as motors, reducers, control boards and brake bands in the inside, and the heat dissipation problem has become a key bottleneck restricting the performance and service life of the joint. The current heat dissipation and transmission design of traditional robot joints has many defects, which is difficult to meet the operation requirements of modern robots. The traditional robot joint heat dissipation usually adopts a single fan or a scattered air duct, and the airflow is easy to form a dead angle. The core heat generating components such as motor windings and PCB driving MOS tubes often have high temperature problems due to heat accumulation, which further leads to the decline of motor operation efficiency, unstable performance of electronic components and even premature damage. Therefore, the technical personnel in the field provides a heat dissipation structure of a robot to solve the above problems. SUMMARY

[0003] The purpose of the application is to provide a heat dissipation structure of a robot which is simple in structure and reasonable in design to solve the above problems.

[0004] The application achieves the above-mentioned purposes through the following technical solutions: A heat dissipation structure of a robot, comprising a robot joint heat dissipation device, a first joint arm, a second joint arm and a power transmission assembly, the first joint arm is connected with the robot joint heat dissipation device, the second joint arm is hinged with the first joint arm, the power transmission assembly is installed on the first joint arm, the robot joint heat dissipation device is in transmission connection with the second joint arm through the power transmission assembly, the robot joint heat dissipation device comprises a brake band body, a brake band rotor is arranged on the brake band body, an axial flow fan is integrated on the brake band rotor, a brake band fixing shell is installed on the outer wall of the brake band body, a rotor fixing shaft is further arranged, the brake band rotor is in transmission connection with the rotor fixing shaft, a motor rotor is fixedly connected to the end of the rotor fixing shaft away from the brake band rotor, a motor stator is arranged on the outer side of the motor rotor, a stator fixing shell is arranged on the outer wall of the motor stator, a PCB control board is arranged on the side wall of the brake band fixing shell, and an annular air duct is formed between the PCB control board, the motor stator and the stator fixing shell.

[0005] As a further optimization scheme of the application, the robot joint heat dissipation device further comprises a rear cover, the rear cover is in cover connection with the brake band fixing shell, and the PCB control board is fixed to the inner side of the rear cover.

[0006] As a further optimization scheme of the present application, a stepped flow guide ring is arranged in the annular air duct, and the stepped flow guide ring is fixed to the inner wall of the stator fixed shell.

[0007] As a further optimization scheme of the present application, the brake fixed shell is fixedly connected with the stator fixed shell, and the brake fixed shell is internally provided with brake spring plates and bearing spring plates, and the brake spring plates are arranged correspondingly to the brake body.

[0008] As a further optimization scheme of the present application, a low-speed code disc fixing seat and a high-speed code disc fixing seat are sequentially sleeved on the rotor fixing shaft, the low-speed code disc is installed on the low-speed code disc fixing seat, and the high-speed code disc is installed on the high-speed code disc fixing seat.

[0009] As a further optimization scheme of the present application, the rotor fixing shaft is rotatably connected with the rear cover through a first bearing and rotatably connected with the brake fixed shell through a second bearing, the motor rotor is provided with a speed reducer on the side away from the brake rotor, the speed reducer is fixedly connected with the stator fixed shell, and the speed reducer is rotatably connected with the rotor fixing shaft through a third bearing.

[0010] As a further optimization scheme of the present application, a wave-shaped gasket is arranged between the motor rotor and the speed reducer, and the wave-shaped gasket is sleeved on the rotor fixing shaft.

[0011] As a further optimization scheme of the present application, a speed reducer end cover is covered on the end of the speed reducer away from the motor rotor, and the speed reducer end cover is connected with the speed reducer through a fourth bearing.

[0012] As a further optimization scheme of the present application, the stepped flow guide ring divides the airflow generated by the axial flow fan into a main airflow and a branch airflow, the main airflow flows through the air gap between the motor stator and the motor rotor and extends to the winding end of the motor stator, and the branch airflow flows to the driving MOS tube on the PCB control board through the gap outside the brake body.

[0013] The present application has the following advantages: 1. In the present application, the axial flow fan is directly integrated on the brake rotor through integrated fan and directional flow guide design, and the airflow is generated synchronously with the rotor; the airflow is accurately divided into a main airflow and a branch airflow through the annular air duct and the stepped flow guide ring, the main airflow can cover the air gap between the motor stator and the rotor and the winding end, and quickly take away the heat generated during the operation of the motor; the branch airflow is directed to the driving MOS tube on the PCB control board, and the problem of electronic component heating is solved. The whole heat dissipation process has no airflow dead angle, can fully cover all high-heat areas, effectively avoids joint performance degradation caused by high temperature, and ensures long-term stable operation of the motor and electronic components.

[0014] 2. In this invention: by optimizing the structural layout, the encoder for speed monitoring is directly installed on the rotor fixed shaft, shortening the signal transmission path, making the joint action response faster and avoiding jamming; at the same time, a buffer component is added between the motor rotor and the reducer to effectively alleviate the impact of axial impact on the transmission components, reduce the wear of components such as the synchronous belt, ensure long-term stable transmission accuracy, reduce the risk of failure during joint operation, and extend the service life of core components.

[0015] 3. In this invention: the axial fan rotates synchronously with the brake rotor, eliminating the need for an additional drive structure and directly saving the energy consumption of independent fan drive; at the same time, the annular air duct surrounds the motor and PCB control board, and the fan, guide ring and joint core components (brake, motor, reducer) are compactly arranged, greatly reducing the overall space occupied, making the joint smaller and easily adaptable to robot scenarios with strict size requirements, and improving the flexibility of joint installation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the assembly structure of the heat dissipation device and the robot articulated arm of the present invention. Figure 2 This is the present invention. Figure 1 A schematic diagram of the axial side structure; Figure 3 This is a schematic diagram of the assembly structure of the robot joint heat dissipation device of the present invention; Figure 4 This is the present invention. Figure 3 A schematic diagram of the explosion structure.

[0017] In the diagram: 1. Robot joint heat dissipation device; 101. Rear cover; 102. First bearing; 103. PCB control board; 104. Low-speed encoder; 105. Low-speed encoder mounting base; 106. High-speed encoder; 107. High-speed encoder mounting base; 108. Brake spring; 109. Bearing spring; 110. Brake body; 111. Brake mounting shell; 112. Second bearing; 113. Rotor mounting shaft; 114. Motor rotor; 115. Third bearing; 116. Waveform gasket; 117. Motor stator; 118. Stator mounting shell; 119. Reducer; 120. Fourth bearing; 121. Reducer end cover; 2. First joint arm; 3. Second joint arm; 4. Power transmission assembly. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0019] Example 1: AsFigure 1 and Figure 2 As shown, a robot heat dissipation structure includes a robot joint heat dissipation device 1, a first joint arm 2, a second joint arm 3, and a power transmission assembly 4. The first joint arm 2 is connected to the robot joint heat dissipation device 1, the second joint arm 3 is hinged to the first joint arm 2, and the power transmission assembly 4 is mounted on the first joint arm 2. The robot joint heat dissipation device 1 is connected to the second joint arm 3 via the power transmission assembly 4, enabling flexible joint rotation and power transmission. The power transmission assembly 4 is mounted on the inner wall of the first joint arm 2 and employs a synchronous pulley-synchronous belt transmission structure, specifically including an active synchronous pulley, a driven synchronous pulley, and a synchronous belt. The active synchronous pulley is connected to the robot joint heat dissipation device 1. The power output end of the heat dissipation device 1 is fixedly connected to the extension section of the rotor fixed shaft or the output shaft of the reducer. The driven synchronous pulley is fixedly sleeved on the outside of the hinge shaft of the second joint arm 3. The synchronous belt is tensioned and sleeved between the active synchronous pulley and the driven synchronous pulley to form a closed transmission circuit. When the robot joint heat dissipation device 1 is working, the power is transmitted to the hinge shaft of the second joint arm 3 through the transmission path of "active synchronous pulley-synchronous belt-driven synchronous pulley", driving the second joint arm 3 to rotate flexibly around the first joint arm 2, realizing the flexion, extension and rotation of the robot joint. The meshing transmission of the synchronous pulley and the synchronous belt can ensure the smoothness and accuracy of power transmission and avoid jamming or displacement deviation during joint operation.

[0020] like Figure 3 and Figure 4 As shown, the robot joint heat dissipation device 1 is the core heat dissipation component. Its main body includes a brake body 110, on which a brake rotor is provided. An axial flow fan is integrated on the brake rotor, which can generate airflow synchronously with the rotor. A brake fixing shell 111 is installed on the outer wall of the brake body 110. The device also includes a rotor fixing shaft 113, which is connected to the brake rotor. A motor rotor 114 is fixedly connected to the end of the rotor fixing shaft 113 away from the brake rotor. A motor stator 117 is provided on the outer side of the motor rotor 114. A stator fixing shell 118 is provided on the outer wall of the motor stator 117. A PCB control board 103 is provided on the side wall of the brake fixing shell 111. An annular air duct is formed between the PCB control board 103, the motor stator 117, and the stator fixing shell 118, providing a path for airflow.

[0021] like Figure 3 and Figure 4 As shown, in order to achieve component protection and fixation, the robot joint heat dissipation device 1 also includes a rear cover 101. The rear cover 101 is connected to the brake fixing shell 111. The PCB control board 103 is fixed inside the rear cover 101, which not only protects the PCB control board 103 from external interference, but also places it in the air duct path for easy heat dissipation. A stepped guide ring is provided in the annular air duct. The stepped guide ring is fixed to the inner wall of the stator fixing shell 118 for precise distribution of airflow direction.

[0022] like Figure 3 and Figure 4 As shown, the brake fixing housing 111 is fixedly connected to the stator fixing housing 118 to form an integral support structure; the brake fixing housing 111 is provided with a brake spring 108 and a bearing spring 109. The brake spring 108 is correspondingly set with the brake body 110 to ensure the stable realization of the brake braking function. The rotor fixing shaft 113 is sequentially fitted with a low-speed encoder fixing seat 105 and a high-speed encoder fixing seat 107. The low-speed encoder fixing seat 105 is equipped with a low-speed encoder 104, and the high-speed encoder fixing seat 107 is equipped with a high-speed encoder 106. The dual encoder design realizes the accurate detection of the joint rotation speed and position.

[0023] like Figure 3 and Figure 4 As shown, in terms of rotational connection, the rotor fixed shaft 113 is rotatably connected to the rear cover 101 via the first bearing 102 and to the brake fixing housing 111 via the second bearing 112, ensuring stable rotation of the rotor fixed shaft 113; a reducer 119 is provided on the side of the motor rotor 114 away from the brake rotor, the reducer 119 is fixedly connected to the stator fixing housing 118, the reducer 119 is rotatably connected to the rotor fixed shaft 113 via the third bearing 115, the reducer end cover 121 is connected to the reducer 119 via the fourth bearing 120, realizing speed regulation and power transmission, a wave-shaped gasket 116 is provided between the motor rotor 114 and the reducer 119, the wave-shaped gasket 116 is sleeved on the rotor fixed shaft 113, and the axial impact force is buffered by elastic deformation to protect the components from damage, the reducer end cover 121 is covered on the end of the reducer 119 away from the motor rotor 114, the reducer end cover 121 is fixedly connected to the reducer 119, forming a sealed protection for the internal structure of the reducer.

[0024] like Figure 3 and Figure 4As shown, the stepped guide ring divides the airflow generated by the axial fan into main airflow and diverted airflow: the main airflow flows through the air gap between the motor stator 117 and the motor rotor 114 and extends to the winding end of the motor stator 117, quickly carrying away the heat generated by the motor operation; the diverted airflow flows through the gap on the outside of the brake body 110 to the drive MOSFET on the PCB control board 103, specifically solving the heat dissipation problem of high-heat components and achieving coordinated cooling of multiple components. In actual operation, the motor rotor 114 drives the rotor fixed shaft 113 to rotate synchronously with the brake rotor, collecting... The axial fan mounted on the brake rotor is activated to generate airflow. Guided by a stepped guide ring, the airflow is divided into main and secondary streams, which respectively cool the motor stator 117, the winding ends, and the driving MOSFETs of the PCB control board 103. The hot airflow is finally discharged through the annular air duct. At the same time, the low-speed encoder 104 and the high-speed encoder 106 provide real-time feedback of rotation parameters to ensure precise and controllable joint operation. This structure achieves efficient heat dissipation in a limited space through precise airflow distribution and component integration design, effectively avoiding performance degradation or failure of the robot joint due to high temperature.

[0025] It should be noted that the power transmission component 4 adopts a synchronous pulley-synchronous belt structure to achieve power transmission: In the robot joint heat dissipation device 1, the rotational power of the motor rotor 114 is transmitted to the reducer 119 through the rotor fixed shaft 113. After the reducer 119 reduces speed and increases torque, it outputs power to the active synchronous pulley. The active synchronous pulley drives the driven synchronous pulley to rotate through the tensioned synchronous belt. The driven synchronous pulley is fixed to the hinge shaft of the second joint arm 3, thereby driving the second joint arm 3 to rotate flexibly around the hinge point of the first joint arm 2, realizing the flexion, extension, rotation and other actions of the robot joint. The meshing transmission between the synchronous pulley and the synchronous belt ensures that the power transmission is slip-free. With the speed adjustment of the reducer 119, the smoothness and precise control of the joint movement can be achieved.

[0026] The cooling system uses an axial fan as its core power source, combined with an annular air duct and a stepped guide ring to achieve directional heat dissipation: When the motor rotor 114 rotates, it drives the brake rotor to rotate synchronously, and the axial fan integrated on the brake rotor starts accordingly, generating a continuous airflow. After the airflow enters the annular air duct formed by the PCB control board 103, the motor stator 117 and the stator fixing shell 118, it is divided into two paths by the stepped guide ring: the main airflow flows through the air gap between the motor stator 117 and the motor rotor 114, directly carrying away the core heat generated by the motor operation, and extends to the winding end of the motor stator 117 to cool the high-heat winding; the diverted airflow flows through the gap on the outside of the brake body 110 and flows directionally to the drive MOSFET on the PCB control board 103, specifically addressing the heat dissipation needs of electronic components. The hot airflow is finally discharged through the air duct outlet, forming a complete heat dissipation cycle of "generation-diversion-heat dissipation-discharge".

[0027] The device achieves precise control and safety protection through dual encoders and a braking assembly: the low-speed encoder 104 and the high-speed encoder 106 monitor the rotational speed and position of the rotor fixed shaft 113 in real time, and the data is fed back to the PCB control board 103. The control system adjusts the current of the motor stator 117 according to the command to realize closed-loop control of the joint movement. When braking is required, the brake body 110 is in contact with the brake rotor under the action of the brake spring 108, and brakes quickly through friction to ensure the positioning accuracy of the joint. At the same time, the first bearing 102, the second bearing 112, and the third bearing 115 ensure the stable rotation of the rotor fixed shaft 113, the wave shim 116 buffers the axial impact, and the rear cover 101 and the reducer end cover 121 form a sealed protection to prevent dust and impurities from affecting the operation of internal components.

[0028] The above-described embodiments are merely examples of several implementations of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A heat dissipation structure for a robot, comprising a robot joint heat dissipation device (1), a first joint arm (2), a second joint arm (3), and a power transmission assembly (4), wherein the first joint arm (2) is connected to the robot joint heat dissipation device (1), the second joint arm (3) is hinged to the first joint arm (2), the power transmission assembly (4) is mounted on the first joint arm (2), and the robot joint heat dissipation device (1) is connected to the second joint arm (3) via the power transmission assembly (4), characterized in that: The robot joint heat dissipation device (1) includes a brake body (110), a brake fixing shell (111) is installed on the outer side wall of the brake body (110), a brake rotor is provided on the brake body (110), an axial fan is integrated on the brake rotor, and a rotor fixing shaft (113) is also included. The brake rotor is connected to the rotor fixing shaft (113) in a transmission connection. A motor rotor (114) is fixedly connected to one end of the rotor fixing shaft (113) away from the brake rotor. A motor stator (117) is provided on the outer side of the motor rotor (114), a stator fixing shell (118) is provided on the outer side wall of the motor stator (117), and a PCB control board (103) is provided on the side wall of the brake fixing shell (111). An annular air duct is formed between the PCB control board (103), the motor stator (117) and the stator fixing shell (118).

2. The heat dissipation structure for a robot according to claim 1, characterized in that: The robot joint heat dissipation device (1) also includes a rear cover (101), which is connected to the brake fixing shell (111) and the PCB control board (103) is fixed to the inside of the rear cover (101).

3. The heat dissipation structure for a robot according to claim 2, characterized in that: The annular air duct is provided with a stepped guide ring, which is fixed to the inner wall of the stator fixing shell (118).

4. The heat dissipation structure for a robot according to claim 3, characterized in that: The brake fixing housing (111) is fixedly connected to the stator fixing housing (118). The brake fixing housing (111) is provided with a brake spring (108) and a bearing spring (109). The brake spring (108) is correspondingly arranged with the brake body (110).

5. The heat dissipation structure for a robot according to claim 4, characterized in that: The rotor fixed shaft (113) is sequentially fitted with a low-speed code disk fixing seat (105) and a high-speed code disk fixing seat (107). A low-speed code disk (104) is installed on the low-speed code disk fixing seat (105), and a high-speed code disk (106) is installed on the high-speed code disk fixing seat (107).

6. The heat dissipation structure for a robot according to claim 1, characterized in that: The rotor fixed shaft (113) is rotatably connected to the rear cover (101) via the first bearing (102) and rotatably connected to the brake fixed housing (111) via the second bearing (112). A reducer (119) is provided on the side of the motor rotor (114) away from the brake rotor. The reducer (119) is fixedly connected to the stator fixed housing (118). The reducer (119) is rotatably connected to the rotor fixed shaft (113) via the third bearing (115).

7. The heat dissipation structure for a robot according to claim 6, characterized in that: A wave-shaped shim (116) is provided between the motor rotor (114) and the reducer (119), and the wave-shaped shim (116) is sleeved on the rotor fixed shaft (113).

8. The heat dissipation structure for a robot according to claim 7, characterized in that: The end of the reducer (119) away from the motor rotor (114) is covered with a reducer end cover (121), and the reducer end cover (121) is connected to the reducer (119) through a fourth bearing (120).

9. The heat dissipation structure for a robot according to claim 8, characterized in that: The stepped guide ring divides the airflow generated by the axial fan into a main airflow and a branch airflow. The main airflow flows through the air gap between the motor stator (117) and the motor rotor (114) and extends to the winding end of the motor stator (117). The branch airflow flows through the gap outside the brake body (110) to the drive MOS transistor on the PCB control board (103).

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