Joint heat dissipation device and collaborative robot

Abstract

A joint heat dissipation device and a collaborative robot, a partition of the joint heat dissipation device and a cooling fan, wherein the partition is installed in the channel between the first joint and the first arm of the collaborative robot, the partition divides the channel into an air outlet and an air inlet, a circulating air duct is formed between the first joint and the first arm, and the cooling fan is used to blow the air in the first joint into the first arm. Since a partition is installed in the channel between the first joint and the first arm to divide the channel into an air outlet and an air inlet, and a cooling fan is installed at one end or inside of the air outlet, a circulating air duct is formed between the first joint and the first arm, and the circulating air duct can transfer the heat in the first joint to the first arm, and the arm surface of the first arm becomes a heat dissipation surface, which expands the heat dissipation area and has a better heat dissipation effect, so that the collaborative robot does not need to reduce the load and speed, and can also avoid the influence of excessive temperature in the first joint on the driving mechanism.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a joint heat dissipation device and a collaborative robot with heat dissipation function. Background Art

[0002] Collaborative robots integrate the drive mechanism into the joints. When running at full load and high speed, the mechanical losses and power losses of the servo drive are all converted into heat energy. However, the internal cavity of the robot joints is small, and the electronic components on the servo drive and encoder are generally required to have a temperature not exceeding 85°C. If effective heat dissipation measures cannot be provided for the servo drive, the servo drive and encoder will work unstably, causing robot failure.

[0003] Currently, there is no heat dissipation solution for the joints of collaborative robots in the industry. The heat generated by the robot joints is reduced by reducing the load and speed. Summary of the invention

[0004] The present application provides a joint heat dissipation device and a collaborative robot with good heat dissipation effect.

[0005] In one embodiment, a joint heat dissipation device is provided, including a partition and a cooling fan. The partition is installed in a channel between a first joint and a first arm of a collaborative robot. The partition divides the channel into an air outlet duct and an air inlet duct. A circulating air duct is formed between the first joint and the first arm. The cooling fan is installed at one end or inside of the air outlet duct. The cooling fan is used to blow the air in the first joint into the first arm.

[0006] Furthermore, the partition is a tubular structure, the partition is located in the channel, the channel inside the partition is the air outlet, the annular channel outside the partition is the air inlet, and the cooling fan is located in the air outlet.

[0007] Furthermore, the cooling fan includes a cooling motor, a transmission gear set, a hollow shaft and blades. The hollow shaft is rotatably mounted on a mounting frame, the cooling motor is mounted on the mounting frame, the transmission gear set connects the cooling motor and the hollow shaft, the blades are mounted on the hollow shaft, and the cables are passed through the hollow shaft.

[0008] Furthermore, the partition is a plate structure, the partition is located in the middle of the channel, the two sides of the partition are the air outlet and the air inlet respectively, and the cooling fan is installed on the mounting frame and is located in the air outlet.

[0009] Furthermore, the joint heat dissipation device also includes an air guide member, which is located in the first joint and connected to the air inlet duct, and the air guide member is used to guide the air in the air inlet duct to the interior of the first joint.

[0010] In one embodiment, a collaborative robot is provided, including a base, a first joint, a first arm and the above-mentioned joint heat dissipation device, the first joint is connected to the first arm, the first joint and the first arm are hollow structures, and a connecting channel is provided between the first joint and the first arm, a first driving mechanism is installed in the first joint, a cable is passed through the first arm, and the cable passes through the channel and is connected to the first driving mechanism; the first joint is rotatably installed on the side of the base, the output end of the first driving mechanism is connected to the base, and the first driving mechanism is used to drive the first joint and the first arm to rotate relative to the base.

[0011] Furthermore, the first driving mechanism includes a servo driver, a motor and a reducer, the motor is connected to the servo driver and the reducer respectively, the cable is connected to the servo driver, and the reducer is connected to the base.

[0012] Furthermore, the collaborative robot also includes a second joint and a second arm, the second joint is fixedly connected to an end of the first arm away from the first joint, the second arm is rotatably connected to one end of the second arm, a second driving mechanism is installed in the second joint, a through hole is provided between the second joint and the second arm, and a cable passes through the through hole to be connected to the second driving mechanism.

[0013] Furthermore, the collaborative robot also includes a collaborative terminal, which is installed at an end of the second arm away from the second joint, and the collaborative terminal is used to install a mechanical fixture or a processing tool.

[0014] According to the joint heat dissipation device and collaborative robot of the above-mentioned embodiments, a partition is installed in the channel between the first joint and the first arm to divide the channel into an air outlet and an air inlet, and a cooling fan is installed at one end or inside of the air outlet, a circulating air duct is formed between the first joint and the first arm, and the circulating air duct can transfer the heat in the first joint to the first arm. The arm surface of the first arm becomes a heat dissipation surface, which expands the heat dissipation area and has a better heat dissipation effect, so that the joint heat dissipation device and collaborative robot do not need to reduce the load and speed, and can also avoid the influence of excessive temperature in the first joint on the driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a collaborative robot in an embodiment;

[0016] Figure 2 is an axial cross-sectional view of a collaborative robot in one embodiment;

[0017] Figure 3 An axial cross-sectional view of a collaborative robot in one embodiment. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0019] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0020] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0021] Embodiment 1:

[0022] like Figure 1 and Figure 2 As shown, the present application provides a collaborative robot, which includes a base 10, a first joint 20, a first arm 30, a second joint 40, a second arm 50 and a collaborative terminal 60. The base 10 is used to fix the entire collaborative robot. The first joint 20 is rotatably connected to the base 10. The first joint 20 and the second joint 40 are respectively fixed at both ends of the first arm 30. The second joint 40 is rotatably connected to the second arm 50. The collaborative terminal 60 is installed at one end of the second arm 50 away from the second joint 40. The collaborative terminal 60 is used to install terminals such as mechanical fixtures or processing tools. The collaborative robot is used to drive the mechanical fixtures or processing tools to swing in space. In this embodiment, the first joint 20 is located at the bottom, and the first joint 20 will drive the components above the first arm 30 to move, so the load of the first joint 20 is the largest, and the driving heat generated in the first joint 20 is the largest.

[0023] In other embodiments, the collaborative robot only includes a first joint 20 and a first arm 30. The first joint 20 is mounted on a fixed seat, and a mechanical fixture or processing tool is directly installed on the end of the first arm 30 away from the first joint 20, which can also realize operations within a certain space.

[0024] In other embodiments, the collaborative terminal 60 is detachably installed, and the collaborative robot can install different collaborative terminals 60 to install different mechanical fixtures or processing tools.

[0025] In this embodiment, cables are installed in the base 10, and the base 10 is also provided with an upper base and a lower base. The upper base is rotatably installed on the lower base, and a driving mechanism is installed in the upper base or the lower base to drive the upper base to rotate relative to the lower base.

[0026] One end of the first joint 20 is rotatably mounted on the side of the base 10, the first joint 20 is fixedly mounted with the first arm 30, the first arm 30 is perpendicular to the rotation axis of the first joint 20 and the base 10, and the first joint 20 and the first arm 30 are both hollow structures. A first driving mechanism 70 is installed in the first joint 20, the first joint 20 is a heat source, the first driving mechanism 70 mainly includes a servo driver 71, a motor 72 and a reducer 73, the motor 72 is connected to the servo driver 71 and the reducer 73 respectively, the servo driver 71 is used to control the rotation of the motor 72, and the output end of the reducer 73 is connected to the base 10, so that the first joint 20 can rotate relative to the base 10. The first driving mechanism 70 may also include an encoder, the encoder is connected to the motor or the reducer, and the encoder is also connected to the servo driver 71, which is used to feedback the output number of turns and the degree of rotation of the motor. The servo driver 71 is connected to the driving mechanism or the transition electrical connection component in the base 10 through a cable, and an external interface is provided on the bottom side of the base 10, and the servo driver 71 is connected to the interface through a cable.

[0027] In this embodiment, there is a mutually connected channel M between the first joint 20 and the first arm 30, and the channel M is a connection port. There is also a mutually connected channel between the first arm 30 and the second joint 40. A second drive mechanism 80 is installed in the second joint 40. The structure of the second drive mechanism 80 is similar to that of the first drive mechanism 70. The output end of the second drive mechanism 80 is connected to the second arm 50. The second drive mechanism 80 is used to drive the second arm 50 to rotate relative to the second joint 40, and the second arm 50 and the first arm 30 are in two mutually parallel planes. The first drive mechanism 70 and the second drive mechanism 80 are connected by a cable 74. Most of the cable 74 is located in the first arm 30. The lower end of the cable 74 passes through the channel M and is connected to the servo driver 71 of the first drive mechanism 70. The upper end of the cable 74 extends to the second drive mechanism 80 for connection.

[0028] In this embodiment, a joint heat dissipation device 90 is installed between the first joint 20 and the first arm 30. The joint heat dissipation device 90 includes a mounting frame 91, a partition 92 and a cooling fan 93. The mounting frame 91 is installed in the channel M between the first arm 30 and the second joint 40. The mounting frame 91 is a support rod or a disc structure covered with through holes. The partition 92 is a tubular structure. The partition 92 is installed in the middle of the mounting frame 91, and the central axis of the partition 92 coincides with the central axis of the channel M. The partition 92 divides the channel M into an air outlet M1 and an air inlet M2, wherein the channel inside the partition 92 is the air outlet M1, and the annular channel formed outside the partition 92 and the channel M is the air inlet M2. The cooling fan 93 is also installed on the mounting frame 91, and the cooling fan 93 is located in the air outlet, and the cooling fan 93 is a hollow structure. The cable 74 is passed through the hollow cooling fan 93, so that a circulating air duct is formed between the first joint 20 and the first arm 30. The cooling fan 93 can blow the hot air in the first joint 20 into the first arm 30, and discharge the cold air in the first arm 30 into the first joint 20 ( Figure 2 The direction indicated by the arrow in the middle is the circulating flow direction of the wind), so that the arm surface of the first arm 30 serves as a heat dissipation surface, which increases the heat dissipation area and improves the heat dissipation effect. Specifically, in the present embodiment, the effective heat dissipation area of ​​the first joint 20 is 380 square centimeters, and the effective heat dissipation area after the first joint 20 and the first arm 30 form a circulating heat dissipation air duct is 850 square centimeters. The heat dissipation area is increased to nearly 3 times the original, which greatly improves the heat dissipation effect, and can maintain the temperature of the first drive mechanism 70 below 60°C, ensuring the smooth operation of the first drive mechanism 70. In other embodiments, the mounting frame 91 and the partition 92 may also be an integrated structure, and the mounting frame 91 may also be integrated with the first joint 20 or the first arm 30. In other embodiments, the cooling fan 93 may also be installed at either end of the air outlet.

[0029] In this embodiment, the heat dissipation fan 93 includes a heat dissipation motor, a transmission gear set, a hollow shaft and blades. The heat dissipation motor is fixed on the mounting frame 91, and the hollow shaft is vertically rotatably mounted on the mounting frame 91. The central axis of the hollow shaft coincides with the central axis of the partition 92, and the cable 74 is passed through the hollow shaft. The transmission gear set includes two or more gears, one gear is mounted on the output shaft of the heat dissipation motor, and one gear is mounted on the hollow shaft. The two gears are directly meshed or connected through other gears. Finally, the transmission gear set connects the heat dissipation motor and the hollow shaft, and the blades are mounted on the hollow shaft, so that the heat dissipation motor can drive the blades to rotate through the transmission gear set and the hollow shaft. The heat dissipation fan 93 is used to blow the hot air in the first joint 20 into the first arm 30, and the heat dissipation motor and the transmission gear set of the heat dissipation fan 93 are miniaturized heat dissipation motors and gears, so that the heat dissipation motor and the transmission gear set only block the air outlet M1 of the air outlet M1, and do not affect the air outlet of the air outlet M1.

[0030] like Figure 3 As shown, in one embodiment, the joint heat dissipation device 90 also includes an air guide 94, which is an air guide pipe or an air guide plate. The air guide 94 is located in the first joint 20, one end of the air guide 94 is connected to the air inlet, and the other end extends to the servo driver 71. The air guide 94 is used to blow the cold air in the first arm 30 to the servo driver 71, and more importantly, to form a larger range of air circulation, thereby improving the heat dissipation efficiency. The air guide 94 can also include two, and the other air guide 94 guides the cold air to the motor 72 to improve the heat dissipation efficiency.

[0031] In other embodiments, the cooling fan 93 is a bladeless fan, and the cable 74 is directly installed in the air duct in the middle of the bladeless fan; or, the cooling fan 93 is a normal fan, and the cable 74 is transmitted in the air inlet duct M2, or the cable 74 is installed on the inner wall of the air outlet duct M1. Both can achieve staggered installation of the cooling fan 93 and the cable 74.

[0032] In other embodiments, the partition 92 is a plate structure, and the partition 92 is vertically mounted on the mounting frame 91. The partition 92 is located in the middle of the channel M. The partition 92 divides the channel M into two left and right air ducts, and the left and right air ducts are the air outlet duct M1 and the air inlet duct M2 respectively. The cooling fan 93 and the cable 74 can be installed in the air outlet duct M1 or the air inlet duct M2 at will. It is best that the cooling fan 93 and the cable 74 are separated and installed in the air outlet duct M1 and the air inlet duct M2 respectively. This structure can also form a circulating air duct, which is beneficial to the heat dissipation of the first joint 20.

[0033] In this embodiment, the cable 74 contains a power line and a communication line, and the cable 74 is used for power supply and data transmission of multiple driving mechanisms.

[0034] The collaborative robot of this embodiment has a partition 92 installed in the channel M between the first joint 20 and the first arm 30 to divide the channel M into an air outlet duct M1 and an air inlet duct M2, and a cooling fan 93 is installed at one end or inside the air outlet duct M1. A circulating air duct is formed between the first joint 20 and the first arm 30, and the circulating air duct can transfer the heat in the first joint 20 to the first arm 30. The arm surface of the first arm 30 becomes a heat dissipation surface, which expands the heat dissipation area and has a better heat dissipation effect. This allows the collaborative robot to avoid the influence of excessive temperature in the first joint 20 on the driving mechanism without reducing the load and speed.

[0035] Embodiment 2:

[0036] This embodiment provides a joint heat dissipation device, which is the joint heat dissipation device 90 in the above embodiment. In addition to being installed between the joint and the arm of the collaborative robot, this joint heat dissipation device can also be used to be installed between the joint and the arm of other robots, or installed between two interconnected components of other equipment. This joint heat dissipation device can separate the channel between the joint and the arm into a circulating heat dissipation channel to increase the heat dissipation area, and provides a heat dissipation fan that can actively drive air circulation to improve the heat dissipation effect.

[0037] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A joint heat dissipation device, characterized in that: It includes a partition and a cooling fan, wherein the partition is installed in a channel between a joint and an arm of the robot, the partition divides the channel into an air outlet and an air inlet, the cooling fan is installed at one end or inside of the air outlet, and the cooling fan is used to blow hot air in the joint into the arm, and discharge cold air in the arm into the joint.

2. The joint heat dissipation device according to claim 1, characterized in that: The partition is a tubular structure, the partition is located in the channel, the channel in the partition is the air outlet, the annular channel outside the partition is the air inlet, and the cooling fan is located in the air outlet.

3. The joint heat dissipation device according to claim 2, characterized in that: Also included is a mounting frame, through which the partition and the cooling fan are mounted in the channel between the joint and the arm.

4. The joint heat dissipation device according to claim 3, characterized in that: The cooling fan includes a cooling motor, a transmission gear set, a hollow shaft and blades. The hollow shaft is rotatably mounted on the mounting frame, the cooling motor is mounted on the mounting frame, the transmission gear set connects the cooling motor and the hollow shaft, the blades are mounted on the hollow shaft, and cables are passed through the hollow shaft.

5. The joint heat dissipation device according to claim 1, characterized in that: The partition is a plate structure, the partition is located in the middle of the channel, and the two sides of the partition are the air outlet and the air inlet respectively.

6. The joint heat dissipation device according to claim 1, characterized in that: It also includes an air guide member, which is located in the joint and connected to the air inlet duct. The air guide member is used to guide the air in the air inlet duct to the inside of the joint.

7. A robot, characterized in that: It includes a base, a first joint, a first arm and a joint heat dissipation device, the first joint is connected to the first arm, the first joint and the first arm are hollow structures, and a connecting channel is provided between the first joint and the first arm, a first driving mechanism is installed in the first joint, a cable is passed through the first arm, and the cable passes through the channel and is connected to the first driving mechanism; the first joint is rotatably installed on the side of the base, the output end of the first driving mechanism is connected to the base, and the first driving mechanism is used to drive the first joint and the first arm to rotate relative to the base; wherein the joint heat dissipation device includes a partition and a heat dissipation fan, the partition is installed in the channel, the partition divides the channel into an air outlet and an air inlet, the heat dissipation fan is installed at one end or inside of the air outlet, and the heat dissipation fan is used to blow the hot air in the first joint into the first arm, and discharge the cold air in the first arm into the first joint.

8. The robot according to claim 7, characterized in that: The first driving mechanism includes a servo driver, a motor and a reducer, the motor is connected to the servo driver and the reducer respectively, the cable is connected to the servo driver, and the reducer is connected to the base.

9. The robot according to claim 7, characterized in that: It also includes a second joint and a second arm, wherein the second joint is fixedly connected to an end of the first arm away from the first joint, the second arm is rotatably connected to one end of the second arm, a second driving mechanism is installed in the second joint, a through hole is provided between the second joint and the second arm, and the cable passes through the through hole to be connected to the second driving mechanism.

10. The robot according to claim 9, characterized in that: It also includes a collaboration terminal, which is installed at one end of the second arm away from the second joint, and is used to install a mechanical fixture or a processing tool.

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