A robot

Abstract

The present invention discloses a robot, which relates to the field of robot technology. The robot comprises a base, a control component, a protective cover and a driving component, wherein the control component is arranged in the base; the protective cover is arranged outside the base, and a plurality of heat dissipation holes are arranged on the protective cover; the driving component comprises a motor, which is arranged in the protective cover and electrically connected to the control component. The robot can achieve a lightweight design while improving the heat dissipation capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot. Background Art

[0002] With the advancement of mechatronics technology and the vigorous development of the wave of artificial intelligence, industrial products are developing in the direction of intelligence, systematization, miniaturization, modularization and human-machine collaboration. Traditional industrial robots are all designed with separate drive and control. The controller will be separated from the robot, and a separate control cabinet will be designed to install the controller. However, with the trend of industrial robots gradually developing towards miniaturization and lightweight in recent years, plug-and-play, easy-to-carry and install drive-control integrated robots have become the general trend. However, the problem that follows is that the robot's controller generates a lot of heat, and the sealing design requirements make it difficult to dissipate the heat in time, causing the robot to heat up more seriously, seriously affecting the performance of the robot. At the same time, the motor of the robot will generate a lot of heat during movement. If this heat enters the base, the temperature inside the base will increase greatly, and the control of the temperature inside the base will become more difficult. At present, the commonly used solutions are to add heat sinks and heat pipes to speed up the conduction of heat for heat dissipation, but this requires increased costs and a complex structure, which is not conducive to the lightweight design of the robot.

[0003] In view of the above problems, it is necessary to develop a robot to solve the problem of how to improve heat dissipation while making the robot lightweight. Summary of the invention

[0004] The object of the present invention is to provide a robot which can achieve lightweight design while improving heat dissipation capability.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A robot, comprising:

[0007] Pedestal;

[0008] A control component is disposed in the base;

[0009] A protective cover, the protective cover is arranged outside the base, and the protective cover is provided with a plurality of heat dissipation holes;

[0010] A drive assembly includes a motor, which is disposed in the protective cover and electrically connected to the control assembly.

[0011] Preferably, the driving assembly further comprises a reducer, wherein the reducer is arranged in the base, an input end of the reducer is drivingly connected to the motor, and an output end of the reducer extends out of the base.

[0012] Preferably, the base includes a main body and a mounting base located at the bottom of the main body, a first mounting cavity is provided in the main body, a second mounting cavity is provided in the mounting base, the control component is located in the first mounting cavity, the reducer is located in the second mounting cavity, and the first mounting cavity is connected to the second mounting cavity.

[0013] Preferably, the main body is detachably connected to the mounting seat.

[0014] Preferably, it also includes a heat insulation component, which is arranged between the protective cover and the base, and the output shaft of the motor passes through the heat insulation component and is transmission-connected to the reducer.

[0015] Preferably, the thermal insulation assembly comprises:

[0016] a first flange, wherein the first flange is provided with a first through hole, and the first flange is sealed and connected to the base;

[0017] The second flange is provided with a second through hole, the second flange is sealed in the first through hole, and the output shaft of the motor passes through the second through hole and is drivingly connected to the reducer.

[0018] Preferably, the first flange is fixed to the base by means of sealant or a first sealing ring is provided between the first flange and the base, and the first flange is fixed to the second flange by means of sealant or a second sealing ring is provided between the first flange and the second flange.

[0019] Preferably, the control component includes an integrated drive board, the integrated drive board includes a control module, a drive module and a first substrate, the control module and the drive module are arranged on the first substrate, the control module is electrically connected to the drive module, and the drive module is electrically connected to the drive component.

[0020] Preferably, an isolation device is further included, and the isolation device is arranged between the driving module and the control module.

[0021] Preferably, an isolation groove is formed on the first substrate, and the isolation groove is located between the driving module and the control module.

[0022] Preferably, a plurality of isolation slots are provided between the driving module and the control module;

[0023] Alternatively, a plurality of spacer plates are arranged in the isolation slot.

[0024] Preferably, the control component includes an integrated drive board, and the integrated drive board includes an integrated first substrate and a second substrate, the first substrate is a control function board, the second substrate is a drive function board, the first substrate is electrically connected to the second substrate, and the second substrate is electrically connected to the drive component.

[0025] Preferably, the second substrate is overlapped with the first substrate.

[0026] Preferably, an isolation device is further included, and the isolation device is arranged between the second substrate and the first substrate.

[0027] Preferably, a heat insulating member is further included, and the heat insulating member is arranged between the second substrate and the first substrate.

[0028] Beneficial effects of the present invention:

[0029] The present invention provides a robot. In the robot, two main heat-generating components, a motor and a control component, are separated. Since the control component needs to be waterproof and dustproof, the control component is arranged in a base, and the motor is arranged in a protective cover outside the base, so that the two are separated. The heat generated by the motor can be dissipated to the outside through the heat dissipation holes on the protective cover, which greatly improves the heat dissipation capacity of the robot, and can not only seal the base but also not affect the heat dissipation of the motor. At the same time, since structures such as heat dissipation blocks and heat pipes are no longer needed, the purpose of lightweight design is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a robot provided by the first embodiment of the present invention;

[0031] Figure 2 For the present invention Figure 1 A partial enlarged view of the middle A;

[0032] Figure 3 A schematic diagram of the first structure of the integrated drive and control board provided in the sixth embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a second structure of the integrated drive and control board provided in the sixth embodiment of the present invention;

[0034] Figure 5 A third structural schematic diagram of the drive-control integrated board provided in the sixth embodiment of the present invention;

[0035] Figure 6 A fourth structural schematic diagram of the integrated drive and control board provided in the sixth embodiment of the present invention;

[0036] Figure 7 A fifth structural schematic diagram of the drive-control integrated board provided in the sixth embodiment of the present invention;

[0037] Figure 8 A sixth structural schematic diagram of the drive-control integrated board provided in the sixth embodiment of the present invention;

[0038] Fig. 9 A seventh structural schematic diagram of the drive-control integrated board provided in the sixth embodiment of the present invention;

[0039] Fig.10 A schematic diagram of the structure of a drive-control integrated board provided in a seventh embodiment of the present invention;

[0040] Fig.11 A schematic diagram of the structure of a drive-control integrated board provided in an eighth embodiment of the present invention;

[0041] Fig.12 This is a schematic structural diagram of the drive and control integrated board provided in the eleventh embodiment of the present invention.

[0042] 1. Base; 2. Protective cover; 3. Motor; 4. Reducer; 5. First flange; 6. Second flange; 11. Main body; 12. Mounting seat; 61. Sealing groove;

[0043] 110. Control module; 111. First control part; 112. Second control part; 120. Drive module; 121. First drive part; 122. Second drive part; 131. First substrate; 132. Second substrate; 141. Isolation device; 142. Isolation slot; 150. Heat dissipation assembly; 151. Heat dissipation base plate; 152. Third heat dissipation fin; 160. First fan; 170. I / O interface; 180. Low voltage power supply; 190. High voltage power supply. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0046] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0048] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0049] First embodiment

[0050] This embodiment provides a robot. Figure 1 As shown, the robot includes a base 1, a control component, a protective cover 2 and a drive component. The control component is arranged in the base 1, the protective cover 2 is arranged outside the base 1, and a plurality of heat dissipation holes are arranged on the protective cover 2. The drive component includes a motor 3, which is arranged in the protective cover 2 and is electrically connected to the control component.

[0051] The robot isolates the motor 3 and the control component from two heat sources, and sets the motor 3 in the protective cover 2 outside the base 1, so that the heat generated by the motor 3 can be discharged through the heat dissipation holes without entering the base 1, ensuring that the temperature in the base 1 will not be too high, so that the control component works at a suitable temperature. The motor 3 is set outside the base 1, and due to the strong heat dissipation capacity, the robot does not need to set up additional heat dissipation parts, such as heat dissipation blocks, heat pipes and fans, which greatly reduces the cost and makes the structural design easier.

[0052] In addition, by opening heat dissipation holes on the protective cover 2, maintenance is more convenient than heat dissipation structures such as heat pipes in the prior art. It is only necessary to remove the protective cover 2 and the base 1 for flushing, and assembly and maintenance are easier.

[0053] Since the motor 3 rotates too fast, in order to facilitate control, the driving assembly further includes a reducer 4, the input end of the reducer 4 is transmission-connected to the motor 3, and the output end of the reducer 4 extends out of the protective cover 2. At the same time, the reducer 4 can increase the torque while reducing the rotation speed, so that the grasping mechanism can grasp heavier objects, thereby improving the application range of the robot.

[0054] Preferably, the base 1 includes a main body 11 and a mounting base 12 located at the bottom of the main body 11, a first mounting cavity is provided in the main body 11, a second mounting cavity is provided in the mounting base 12, the control component is located in the first mounting cavity, the reducer 4 is located in the second mounting cavity, and the first mounting cavity is connected to the second mounting cavity.

[0055] The reduction assembly is arranged in the mounting seat 12 to facilitate the connection between the motor 3 in the protective cover 2 and the reduction assembly. At the same time, the protective cover 2 can be completely placed under the base 1 by adjusting the connection direction with the mounting seat 12, thereby avoiding the increase in the lateral size of the robot due to the protective cover 2 being arranged on the side of the base 1.

[0056] Optionally, the protective cover 2 is fixedly connected to the base 1 by screws, which is easy to disassemble, and is convenient for maintaining the motor 3 and cleaning the heat dissipation holes.

[0057] Since the reducer 4 generates very little heat, the base 1 and the protective cover 2 are separated by the mounting base 12 of the reducer 4, so that the motor 3 is away from the base 1, and most of the heat generated by the motor 3 will not be transmitted to the inside of the base 1, but will be discharged through the heat dissipation holes. In order to further prevent the heat generated by the motor 3 from entering the base 1, the robot also includes a heat insulation component, which is arranged between the protective cover 2 and the base 1, and the output shaft of the motor 3 passes through the heat insulation component and is in transmission connection with the reducer 4.

[0058] Preferably, if Figure 2 As shown, the heat insulation assembly includes a first flange 5 and a second flange 6, wherein the first flange 5 is provided with a first through hole, and the first flange 5 is sealed and connected to the base 1. The second flange 6 is provided with a second through hole, and the second flange 6 is sealed and arranged in the first through hole, and the output shaft of the motor 3 passes through the second through hole and is transmission-connected to the reducer 4. The first flange 5 and the second flange 6 can isolate the motor 3 from the reducer 4, greatly reducing the heat generated by the motor 3 from being transmitted to the base 1 through the reducer 4, thereby minimizing the impact of the motor 3 on the temperature of the environment in the base 1.

[0059] Since the first flange 5 and the second flange 6 are relatively hard, a certain gap is likely to exist between the two, which makes the insulation component not completely isolate the two chambers. To solve this problem, the first flange 5 and the base 1 are fixed by sealing glue or a first sealing ring is provided between the first flange 5 and the base 1, and the first flange 5 and the second flange 6 are fixed by sealing glue or a second sealing ring is provided between the first flange 5 and the second flange 6.

[0060] When a sealing ring is used to achieve a sealed connection, in order to prevent the first sealing ring and the second sealing ring from moving and causing the sealing effect to deteriorate, a sealing groove 61 is provided on the first flange 5 and the second flange 6 for fixing the first sealing ring and the second sealing ring.

[0061] Because the control component needs to control the motor 3, the control component needs to be connected to the motor 3 through a connecting wire. If a hole is opened on the base 1 to allow the connecting wire to pass through, this will have a certain impact on the sealing of the base 1. In order to prevent the sealing of the base 1 from being damaged, a wire hole is provided on the thermal insulation component, and the connecting wire of the motor 3 passes through the wire hole through a sealing joint to connect with the control component. The sealing joint is arranged in the wire hole and is wrapped around the outside of the connecting wire passing through the wire hole to achieve sealing, ensuring that heat and dust will not enter the mounting seat 12 through the gap between the connecting wire and the flange and then enter the base 1 to affect the control component. It can be understood that the wire hole can be set on the first flange 5 or on the second flange 6.

[0062] Preferably, the sealing joint may be a PG joint, which is locked in the wire hole and can play a role in waterproofing and dustproofing.

[0063] Preferably, the reducer 4 includes an inner gear ring, a planet carrier, a planetary gear and a sun gear. The inner gear ring is fixedly arranged in the base 1, the planetary carrier is rotatably arranged in the base 1, the planetary gear is rotatably arranged on the planetary carrier, and the planetary gear is meshed with the inner gear ring, the sun gear is fixedly connected to the output shaft of the motor 3 and rotates coaxially, and the sun gear is meshed with the planetary gear.

[0064] When the motor 3 drives the sun gear to rotate, since the inner gear ring is fixed, the planetary gear will rotate while revolving around the sun gear, driving the planetary carrier to rotate. At this time, the planetary carrier is the output end of the reducer 4, which is used to drive the active arm to rotate. When the motor 3 rotates, the speed and the angle of rotation of the active arm can be calculated by calculating the reduction ratio of the reducer 4. It can be understood that in order to improve the reduction ratio, multiple reducers 4 can be set. In two adjacent reducers 4, the planetary carrier of one reducer 4 is connected to the sun gear of another reducer 4. Through the transmission of multiple reducers 4, the speed of the active arm can be greatly reduced.

[0065] Preferably, a plurality of planetary gears are rotatably arranged on the planet carrier, and the plurality of planetary gears are evenly spaced around the sun gear. The plurality of planetary gears can make the force of the planetary gear train more balanced during operation, and can achieve a larger transmission ratio while maintaining stability.

[0066] In other embodiments, the reducer 4 can also be a harmonic reducer, including a rotating shaft connected to the motor 3, a wave generator arranged on the rotating shaft, a flexible wheel sleeved outside the wave generator, and a steel wheel that can mesh with the flexible wheel, and the steel wheel is fixedly arranged in the base 1. When the rotating shaft rotates, the wave generator is driven to rotate to generate a periodic elastic deformation wave to deform the flexible wheel. The elongated part of the flexible wheel meshes with the inner ring of the steel wheel, and the remaining part is disengaged from the steel wheel. The tooth pitch of the flexible wheel and the steel wheel is equal, but the number of teeth is small, so that the flexible wheel and the steel wheel rotate relative to each other, and the output end outputs torque and speed. The harmonic reducer has the advantages of high reduction ratio and high precision, which can improve the rotation accuracy of the robot's active arm, and the harmonic reducer can achieve a very high reduction ratio with a smaller volume, which can greatly reduce the space occupied by the reducer 4.

[0067] The robot also includes a grasping component, which is transmission-connected to the driving component, and the driving component can drive the grasping component to grasp objects.

[0068] The grabbing assembly includes an active arm, a driven arm, a moving platform and a suction cup. One end of the active arm is connected to the output end of the driving assembly, and can rotate around the output end under the drive of the output end of the driving assembly, and the axis of the active arm is perpendicular to the axis of the output end of the driving assembly. One end of the driven arm is hinged to the end of the active arm away from the driving assembly, and the other end of the driven arm is hinged to the moving platform. The suction cup is set on the moving platform. The driving assembly drives the moving platform to move to the object to be grabbed through the active arm and the driven arm, and opens the suction cup to absorb the object. It can be understood that the suction cup can also be replaced with a clamp to clamp the object.

[0069] In order to increase the moving range and accuracy of the moving platform, multiple groups of active arms and passive arms are provided, and the multiple passive arms are hinged to the moving platform to improve the degree of freedom of the moving platform.

[0070] Second embodiment

[0071] This embodiment provides a robot, based on the first embodiment, a first heat dissipation fin is provided on the outer wall of the protective cover 2. By providing the first heat dissipation fin, the effective heat dissipation area of ​​the protective cover 2 can be increased, so that the heat generated by the motor 3 can be quickly dissipated, and the heat dissipation effect is improved.

[0072] Specifically, the first heat dissipation fins may be made of aluminum alloy, which has excellent thermal conductivity and corrosion resistance, and can extend the service life of the protective cover 2 while improving the heat dissipation effect.

[0073] Optionally, a plurality of first heat dissipation fins may be provided and spaced apart on the outer wall of the protective cover 2 to improve the heat dissipation effect.

[0074] In order to prevent the first heat dissipation fin from affecting the discharge of hot air from the heat dissipation hole, a guide groove is provided on the first heat dissipation fin at the position corresponding to the heat dissipation hole. The guide groove can guide the hot air discharged from the heat dissipation hole to flow toward the free end of the first heat dissipation fin (i.e., the end away from the protective cover 2), thereby ensuring smooth discharge of the hot air.

[0075] Optionally, a second heat dissipation fin may be provided on the outer wall of the base 1 to increase the heat dissipation area of ​​the base 1, thereby improving the heat dissipation effect of the control component. The structure, number and arrangement of the second heat dissipation fin may be the same as the first heat dissipation fin, and will not be described in detail here.

[0076] Third embodiment

[0077] This embodiment provides a robot, based on the first embodiment and the second embodiment, a support member is provided in the protective cover 2, one end of the support member is abutted or connected to the motor 3, and the other end is abutted or connected to the protective cover 2. By providing the support member, on the one hand, the support position of the motor 3 can be increased, the stability of the motor 3 in the protective cover 2 can be improved, and the motor 3 can be prevented from shaking; on the other hand, the heat generated by the motor 3 can be transferred to the protective cover 2 through the heat conduction of the support member, which has high heat dissipation efficiency and good heat dissipation effect compared to the heat directly dissipated by heat radiation.

[0078] Furthermore, the support member may be made of a heat-conducting material to improve the heat-conducting effect of the support member. Exemplarily, the support member may be made of an aluminum alloy material.

[0079] Optionally, a heat-conducting layer can be arranged between the support member and the motor 3 and the protective cover 2. The heat-conducting layer has a certain elasticity. On the one hand, it can avoid rigid contact between the support member and the motor 3 and the protective cover 2, thereby avoiding deformation of the support member, the motor 3 and the protective cover 2; on the other hand, it can also improve the contact effect between the support member and the motor 3 and the protective cover 2. Through the elastic deformation of the heat-conducting layer, it can adapt to the surface of the motor 3 and the protective cover 2 to ensure good contact, thereby improving the heat dissipation effect.

[0080] Optionally, the heat-conducting layer may be made of heat-conducting silicone.

[0081] In some embodiments, the support member may be an annular structure, which is sleeved outside the motor 3 to better manufacture the motor 3 .

[0082] In some embodiments, a plurality of support members may be provided, and the plurality of support members are evenly spaced around the circumference of the motor 3 to support the motor 3 .

[0083] Fourth embodiment

[0084] This embodiment provides a robot, which adds a structure for dissipating heat for the control components on the basis of the first embodiment, the second embodiment and the third embodiment, so as to improve the heat dissipation effect of the control components while ensuring that the base 1 is sealed, dustproof and waterproof.

[0085] The existing robots do not optimize the heat dissipation of the control components because their base 1 needs to be sealed, which results in the heat generated by the control components not being able to be quickly discharged from the base 1, affecting the working state and service life. Specifically, a heat pipe is provided in the base 1, one end of the heat pipe is connected to the control component, and the other end is connected to the main body 11 or the mounting base 12 of the base 1.

[0086] The heat pipe is a hollow tube with one end closed, and contains coolant. The coolant is heated and vaporized at the end connected to the control component, and flows to the end connected to the base 1 under a small pressure difference to condense into liquid, while releasing a large amount of heat. This cycle is repeated endlessly, so that the heat of the control component is quickly transferred to the surface of the base 1 and dissipated into the air through the second heat dissipation fins. The heat pipe has a high cooling effect, and its thermal conductivity is 200 times that of copper.

[0087] Fifth embodiment

[0088] This embodiment provides a robot, which is different from the above embodiment in that the main body 11 and the mounting seat 12 in the base 1 are split structures, and the main body 11 is detachably connected to the mounting seat 12. By separating the main body 11 and the mounting seat 12, the modularity of the drive assembly can be improved, and the drive assembly can be assembled with the mounting seat 12 and the protective cover 2 as one body and then assembled with the main body 11, which is conducive to reducing the difficulty of assembly.

[0089] In addition, the reducer 4, the motor 3 or part of the structure of the main body 11 can be maintained and replaced separately, which is more convenient to operate.

[0090] Optionally, the main body 11 and the mounting seat 12 may be fastened with screws, which has the advantages of low cost, reliable fixation, and convenient assembly and disassembly.

[0091] In some embodiments, the mounting base 12 and the protective cover 2 can be as follows: Figure 1 Horizontal arrangement shown.

[0092] In some embodiments, the mounting seat 12 and the protective cover 2 may be arranged vertically, that is, the protective cover 2 is located at the bottom of the mounting seat 12, and the output shaft of the motor 3 may be arranged vertically.

[0093] In some embodiments, the output shaft of the motor 3 and / or the output shaft of the reducer 4 can be arranged to be inclined relative to the vertical direction or the horizontal direction to meet different design requirements.

[0094] Sixth embodiment

[0095] This embodiment provides a robot, based on the first to fifth embodiments, the control component of the robot is improved. The control component includes a drive control integrated board, such as Figure 3 As shown, the integrated drive-control board includes a control module 110, a drive module 120 and a first substrate 131. The control module 110 and the drive module 120 are arranged on the first substrate 131. The control module 110 is electrically connected to the drive module 120, and the drive module 120 is electrically connected to the drive assembly.

[0096] In the prior art, the controller and the driver are separated from each other and need to be installed separately, which occupies a large space, consumes a lot of installation auxiliary materials, and has complex signal transmission connections. In addition, this split design is difficult to meet the needs of narrow space use.

[0097] In this embodiment, by arranging the control module 110 and the driving module 120 on the same substrate, the overall structure of the control module 110 and the driving module 120 can be made more compact, which is conducive to the miniaturization of the application equipment.

[0098] In this embodiment, the control module 110 is attached to the first substrate 131, and the driving module 120 is arranged in parallel with the control module 110 and attached to the first substrate 131. In other embodiments, the following design may be adopted: the control module 110 is attached to the first substrate 131, and the driving module 120 is attached to a side of the control module 110 away from the first substrate 131; or the driving module 120 is attached to the first substrate 131, and the control module 110 is attached to a side of the driving module 120 away from the first substrate 131.

[0099] Optional, such as Figure 4 As shown, the drive-control integrated board further includes an isolation device 141, which is disposed between the drive module 120 and the control module 110. Specifically, the isolation device 141 is used to isolate the drive module 120 and the control module 110 to avoid interference between strong electricity and weak electricity, thereby improving the working reliability of the drive module 120 and the control module 110. Further, the isolation device 141 is disposed on the first substrate 131. In other embodiments, the isolation device 141 may also cover the drive module 120 and / or the control module 110.

[0100] Optionally, the isolation device 141 is a magnetic coupler, an optical coupler, a capacitive isolator, or a combination of two or more thereof.

[0101] Optionally, the driving module 120 is disposed near an edge of one end of the first substrate 131, and the control module 110 is disposed near an edge of the other end of the first substrate 131. Specifically, by disposing the driving module 120 and the control module 110 at two relatively far ends, interference between the two is reduced.

[0102] Optionally, the control module 110 and the driving module 120 are disposed on the same side of the first substrate 131. Of course, in other embodiments, the following design may be adopted: the control module 110 is disposed on the first side of the first substrate 131, and the driving module 120 is disposed on the second side of the first substrate 131. Figure 5 As shown; or, the control module 110 includes a first control part 111 and a second control part 112, the first control part 111 is arranged on the first surface of the first substrate 131, and the second control part 112 and the driving module 120 are arranged on the second surface of the first substrate 131, as shown Figure 6 As shown, further, the first control part 111 is electrically connected to the second control part 112, and the first control part 111 and / or the second control part 112 are electrically connected to the driving module 120; or, the driving module 120 includes a first driving part 121 and a second driving part 122, the first driving part 121 is arranged on the first surface of the first substrate 131, and the second driving part 122 and the control module 110 are arranged on the second surface of the first substrate 131, as shown in FIG. Figure 7 As shown, further, the first driving part 121 is electrically connected to the second driving part 122, and the first driving part 121 and / or the second driving part 122 are electrically connected to the control module 110. Specifically, the control module 110 and the driving module 120 are used as heat sources, and the control module 110 is divided into two parts or the driving module 120 is divided into two parts, which can make the heat source more dispersed, help avoid overheating of local positions, and effectively improve the working reliability of the integrated drive and control board.

[0103] Optionally, the driving module 120 can be directly connected to an external high-voltage power source to improve the flexibility of connection and use of the integrated driving and control board.

[0104] Optionally, the integrated drive and control board further includes at least one heat dissipation component 150, which is disposed on the first substrate 131. Specifically, the heat dissipation component 150 can dissipate heat for the control module 110 and the drive module 120, thereby ensuring the working reliability of the control module 110 and the drive module 120 and extending their service life.

[0105] Optionally, the heat dissipation assembly 150 includes a heat dissipation base plate 151 and a plurality of third heat dissipation fins 152, the heat dissipation base plate 151 is mounted on the first substrate 131, and the third heat dissipation fins 152 are mounted on the heat dissipation base plate 151. Figure 8As shown, the heat dissipation base plate 151 and the third heat dissipation fins 152 are arranged between the driving module 120 and the control module 110. It can also be designed that the heat dissipation base plate 151 abuts against the driving module 120 and / or the control module 110, and the heat dissipation base plate 151 is connected to the control module 110 and / or the driving module 120 through thermal conductive silicone, thereby improving the heat dissipation effect. Fig. 9 shown.

[0106] Optionally, the heat dissipation assembly 150 further includes a first fan 160 , which is installed on one side of the third heat dissipation fin 152 and can drive the air flow in the area of ​​the third heat dissipation fin 152 .

[0107] Optionally, the heat dissipation assembly 150 includes a second fan, and the second fan is disposed at the edge of the first substrate 131. Specifically, disposing the second fan at the edge can simplify the overall design difficulty and manufacturing process of the integrated drive and control board, which is conducive to the promotion and application of the integrated drive and control board.

[0108] Optionally, the integrated drive and control board further includes a safety circuit module, which is disposed on the first substrate 131 and is electrically connected to the control module 110 and / or the drive module 120. Specifically, by providing the safety circuit module, the operating reliability of the control module 110 and / or the drive module 120 can be improved. Further, under the premise of providing the first communication module, the safety circuit module is electrically connected to the first communication module.

[0109] Optionally, the integrated drive and control board further includes a heat insulating member, which is disposed between the drive module 120 and the control module 110. Specifically, the heat insulating member can reduce the heat transfer between the drive module 120 and the control module 110, thereby ensuring the reliability of the independent operation of the two.

[0110] Optionally, the thermal insulation member is a hollow structural member.

[0111] Optionally, the thermal insulation component and the isolation device 141 are the same structural component.

[0112] Seventh embodiment

[0113] The difference between this embodiment and the sixth embodiment is that the isolation device 141 in the first embodiment is replaced by the following design:

[0114] like Fig.10As shown, an isolation slot 142 is provided on the first substrate 131, and the isolation slot 142 is located between the driving module 120 and the control module 110. Specifically, the isolation slot 142 forms air isolation between the driving module 120 and the control module 110, so that the interference signal is switched and transmitted between two different media, solid and gas, thereby hindering the interference signal, thereby helping to reduce the mutual interference between the driving module 120 and the control module 110.

[0115] Optionally, a plurality of isolation slots 142 are provided between the driving module 120 and the control module 110, and all the isolation slots 142 are provided in parallel; or, a plurality of partition plates are provided in the isolation slots 142, and all the partition plates are provided in parallel. Specifically, by providing a plurality of isolation slots 142 or a plurality of partition plates, the interference signal can be repeatedly switched between the solid and gaseous media, thereby improving the blocking effect of the interference signal.

[0116] Optionally, the heat insulating member in the first embodiment may be disposed in the isolation groove 142 .

[0117] Eighth embodiment

[0118] The difference between this embodiment and the sixth embodiment or the seventh embodiment is that:

[0119] like Fig.11 As shown, the drive control integrated board also includes an I / O interface 170, a low voltage power supply 180 and a high voltage power supply 190 arranged on the first substrate 131, and the control module 110, the I / O interface 170, the low voltage power supply 180, the high voltage power supply 190 and the drive module 120 are arranged adjacent to each other in sequence. Specifically, by arranging the control module 110, the I / O interface 170, the low voltage power supply 180, the high voltage power supply 190 and the drive module 120 adjacent to each other in sequence, on the one hand, the connection distance between the control module 110 and the I / O interface 170 can be shortened, and on the other hand, the space between the control module 110 and the drive module 120 can be fully utilized, and the low voltage power supply 180 is close to the control module 110, and the high voltage power supply 190 is close to the drive module 120, so that the control module 110 and the drive module 120 can be powered more efficiently and reliably. Of course, in other embodiments, the following design may be adopted: the I / O interface 170 is disposed on a side of the control module 110 away from the driving module 120 ; or, the I / O interface 170 is disposed on a side of the low-voltage power supply 180 close to the driving module 120 .

[0120] Optionally, the isolation device 141 or the isolation slot 142 is located between the low-voltage power supply 180 and the high-voltage power supply 190 .

[0121] Optionally, the integrated drive-control board further includes two heat dissipation components 150, which are disposed on the first substrate 131, and one of the heat dissipation components 150 is located on a side of the control module 110 away from the drive module 120, and the other heat dissipation component 150 is located on a side of the drive module 120 away from the control module 110. Specifically, by arranging the heat dissipation components 150 on the outside of both ends and adjacent to the control module 110 and the drive module 120, respectively, it is beneficial to improve the heat dissipation effect.

[0122] Ninth embodiment

[0123] The difference between this embodiment and the sixth embodiment, the seventh embodiment or the eighth embodiment is that:

[0124] The integrated drive and control board also includes a first communication module disposed on the first substrate 131, and the first communication module is electrically connected to the control module 110 and / or the drive module 120. Specifically, by providing the first communication module, the control module 110 can be remotely connected to an external device, thereby improving the use flexibility and application scope of the integrated drive and control board.

[0125] Optionally, the first communication module is disposed on the first surface or the second surface of the first substrate 131 .

[0126] Optionally, the first communication module is located between the control module 110 and the driving module 120. Further, the first communication module is disposed close to the control module 110.

[0127] Optionally, the first communication module is located between the low-voltage power supply 180 and the high-voltage power supply 190 .

[0128] Optionally, the first communication module is located on a side of the isolation device 141 or the isolation slot 142 close to the control module 110 .

[0129] Optionally, the first communication module is connected to a network bus.

[0130] Optionally, the driving module 120 is attached to the first substrate 131 , the first communication module is attached to a side of the driving module 120 away from the first substrate 131 , and the control module 110 is attached to a side of the first communication module away from the first substrate 131 .

[0131] Optionally, the integrated drive and control board further includes a heat dissipation component 150, which is disposed on the first substrate 131. Specifically, the heat dissipation component 150 can dissipate heat for the control module 110 and the drive module 120, thereby ensuring the working reliability of the control module 110 and the drive module 120 and extending their service life.

[0132] Optionally, the heat dissipation assembly 150 includes a heat dissipation base plate 151 and a plurality of third heat dissipation fins 152, the heat dissipation base plate 151 is mounted on the first substrate 131, and the third heat dissipation fins 152 are mounted on the heat dissipation base plate 151. Further, the heat dissipation base plate 151 and the third heat dissipation fins 152 are arranged between the driving module 120 and the control module 110, and can also be designed that the heat dissipation base plate 151 abuts against the driving module 120 and / or the control module 110 and / or the first communication module, and the heat dissipation base plate 151 is connected to the control module 110 and / or the driving module 120 and / or the first communication module through thermal conductive silicone, thereby improving the heat dissipation effect.

[0133] Tenth embodiment

[0134] The difference between this embodiment and the sixth embodiment or the seventh embodiment is that:

[0135] The drive-control integrated board also includes an I / O interface 170, a low-voltage power supply 180, and a high-voltage power supply 190 disposed on the first substrate 131, and the control module 110 and the drive module 120 are disposed in parallel on the first substrate 131, the I / O interface 170 is installed on a side of the control module 110 away from the first substrate 131, the low-voltage power supply 180 is installed on a side of the I / O interface 170 away from the first substrate 131, and the high-voltage power supply 190 is installed on a side of the drive module 120 away from the first substrate 131. Specifically, by arranging the control module 110, the I / O interface 170, and the low-voltage power supply 180 adjacently, the connection distance between the control module 110 and the I / O interface 170 can be shortened, and the low-voltage power supply 180 is close to the control module 110, and the high-voltage power supply 190 is close to the drive module 120, so that the control module 110 and the drive module 120 can be powered more efficiently and reliably.

[0136] Optionally, the integrated drive-control board further includes two heat dissipation components 150, which are disposed on the first substrate 131, and one of the heat dissipation components 150 is located on a side of the control module 110 away from the drive module 120, and the other heat dissipation component 150 is located on a side of the drive module 120 away from the control module 110. Specifically, by arranging the heat dissipation components 150 on the outside of both ends and adjacent to the control module 110 and the drive module 120, respectively, it is beneficial to improve the heat dissipation effect.

[0137] Eleventh Embodiment

[0138] This embodiment provides a robot. Based on the first to fifth embodiments, the control component of the robot includes a drive control integrated board, such as Fig.12 As shown, it includes a first substrate 131 and a second substrate 132 that are integrated. The first substrate 131 is a control function board, and the second substrate 132 is a drive function board. The first substrate 131 is electrically connected to the second substrate 132.

[0139] Optionally, the second substrate 132 is overlapped with the first substrate 131. Further, the second substrate 132 is attached to the first substrate 131 and connected via a daisy chain.

[0140] Optionally, the integrated drive and control board further includes an isolation device 141, which is disposed between the second substrate 132 and the first substrate 131. Specifically, the isolation device 141 is used to isolate the first substrate 131 from the second substrate 132 to avoid interference between strong electricity and weak electricity, thereby improving the working reliability of the first substrate 131 and the second substrate 132.

[0141] Optionally, the integrated drive and control board further includes a low-voltage power supply 180 and a high-voltage power supply 190, and the first substrate 131, the low-voltage power supply 180, the high-voltage power supply 190 and the second substrate 132 are arranged adjacent to each other in sequence, or the first substrate 131, the low-voltage power supply 180, the second substrate 132 and the high-voltage power supply 190 are arranged adjacent to each other in sequence. Further, the integrated drive and control board further includes an I / O interface 170, and the I / O interface 170 is electrically connected to the first substrate 131. The I / O interface 170 is arranged on a side of the first substrate 131 away from the second substrate 132; or, the I / O interface 170 is arranged on a side of the first substrate 131 close to the second substrate 132; or, the I / O interface 170 is arranged on a side of the low-voltage power supply 180 close to the second substrate 132.

[0142] Optionally, the second substrate 132 is connected to an external high-voltage power source.

[0143] Optionally, the integrated drive and control board further includes a communication module, and the communication module is electrically connected to the first substrate 131 and / or the second substrate 132. The communication module is connected to the network bus.

[0144] Optionally, the integrated drive and control board further includes at least one heat dissipation component 150 for dissipating heat from the first substrate 131 and / or the second substrate 132 .

[0145] Optionally, the number of heat dissipation components 150 of the integrated drive and control board is two, one heat dissipation component 150 is located on the side of the first substrate 131 away from the second substrate 132 , and the other heat dissipation component 150 is located on the side of the second substrate 132 away from the first substrate 131 .

[0146] Optionally, the number of the heat dissipation component 150 of the integrated drive and control board is one, and the heat dissipation component 150 is disposed between the second substrate 132 and the first substrate 131 ; or, the heat dissipation component 150 abuts against the first substrate 131 ; or, the heat dissipation component 150 abuts against the second substrate 132 .

[0147] Optionally, the heat dissipation assembly 150 includes a heat dissipation base plate 151 and a plurality of third heat dissipation fins 152 , the heat dissipation base plate 151 is installed on one of the second substrate 132 and the first substrate 131 , the third heat dissipation fins 152 are installed on the heat dissipation base plate 151 , and the other of the second substrate 132 and the first substrate 131 is bonded to the third heat dissipation fins 152 .

[0148] Optionally, the heat dissipation base plate 151 is connected to the first substrate 131 or the second substrate 132 via thermally conductive silicone.

[0149] Optionally, the heat dissipation assembly 150 further includes a heat dissipation fan, which is installed on one side of the third heat dissipation fin 152 and can drive the gas flow in the area of ​​the third heat dissipation fin 152 .

[0150] Optionally, the integrated drive and control panel further includes a heat insulating member, which is disposed between the second substrate 132 and the first substrate 131 .

[0151] Optionally, the number of first substrates 131 is equal to the number of second substrates 132 , and the first substrates 131 are electrically connected to the second substrates 132 in a one-to-one correspondence; or, the number of first substrates 131 is less than the number of second substrates 132 , and at least one first substrate 131 is electrically connected to more than two second substrates 132 .

[0152] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A robot, characterized in that: include: Base (1); A control component is arranged in the base (1); A protective cover (2), the protective cover (2) being arranged outside the base (1), and the protective cover (2) being provided with a plurality of heat dissipation holes; A drive assembly, the drive assembly comprising a motor (3), the motor (3) being arranged in the protective cover (2) and electrically connected to the control assembly; the drive assembly further comprising a reducer (4), the reducer (4) being arranged in the base (1), the input end of the reducer (4) being transmission-connected to the motor (3), and the output end of the reducer (4) extending out of the base (1); It also includes a heat insulation component, which is arranged between the protective cover (2) and the base (1), and the output shaft of the motor (3) passes through the heat insulation component and is transmission-connected to the reducer (4); The base (1) comprises a main body (11) and a mounting seat (12) located at the bottom of the main body (11); a first mounting cavity is provided in the main body (11); a second mounting cavity is provided in the mounting seat (12); the control component is located in the first mounting cavity; the reducer (4) is located in the second mounting cavity; and the first mounting cavity is connected to the second mounting cavity.

2. The robot according to claim 1, characterized in that: The main body (11) is detachably connected to the mounting seat (12).

3. The robot according to claim 1, characterized in that: The thermal insulation assembly comprises: A first flange (5), wherein the first flange (5) is provided with a first through hole, and the first flange (5) is sealedly connected to the base (1); A second flange (6), wherein the second flange (6) is provided with a second through hole, the second flange (6) is sealed and arranged in the first through hole, and the output shaft of the motor (3) passes through the second through hole and is transmission-connected to the reducer (4).

4. The robot according to claim 3, characterized in that: The first flange (5) and the base (1) are fixed by adhesive bonding with a sealant or a first sealing ring is provided between the first flange (5) and the base (1), and the first flange (5) and the second flange (6) are fixed by adhesive bonding with a sealant or a second sealing ring is provided between the first flange (5) and the second flange (6).

5. The robot according to claim 1, characterized in that: The heat insulation component is provided with a wire hole, and the connecting wire of the motor (3) passes through the wire hole through a sealing joint to be connected to the control component.

6. The robot according to any one of claims 1 to 5, characterized in that: The control component comprises a drive integrated board, the drive integrated board comprises a control module (110), a drive module (120) and a first substrate (131), the control module (110) and the drive module (120) are arranged on the first substrate (131), the control module (110) is electrically connected to the drive module (120), and the drive module (120) is electrically connected to the drive component.

7. The robot according to claim 6, characterized in that: It also includes an isolation device (141), wherein the isolation device (141) is arranged between the driving module (120) and the control module (110).

8. The robot according to claim 6, characterized in that: An isolation slot (142) is provided on the first substrate (131), and the isolation slot (142) is located between the driving module (120) and the control module (110).

9. The robot according to claim 8, characterized in that: A plurality of isolation slots (142) are provided between the driving module (120) and the control module (110); Alternatively, a plurality of spacer plates are arranged in the isolation slot (142).

10. The robot according to any one of claims 1 to 5, characterized in that: The control component includes an integrated drive board, and the integrated drive board includes an integrated first substrate (131) and a second substrate (132), wherein the first substrate (131) is a control function board, and the second substrate (132) is a drive function board, the first substrate (131) is electrically connected to the second substrate (132), and the second substrate (132) is electrically connected to the drive component.

11. The robot according to claim 10, characterized in that: The second substrate (132) is arranged to overlap with the first substrate (131).

12. The robot according to claim 10, characterized in that: It also includes an isolation device (141), wherein the isolation device (141) is arranged between the second substrate (132) and the first substrate (131).

13. The robot according to claim 10, characterized in that: It also includes a heat insulating member, which is arranged between the second substrate (132) and the first substrate (131).

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