A constant-temperature robotic arm

Abstract

The present invention provides a constant-temperature robotic arm, which includes a large arm drivably mounted on the robot, and a small arm is drivably mounted at one end of the large arm. A fan for ventilating the inside of the large arm is mounted on the large arm. The large arm is composed of a large arm housing and an installation cavity inside. The large arm housing is composed of an inner wall, an outer wall and a sandwich layer in the middle. A heat exchange component for dissipating heat from the installation cavity is arranged on one side of the sandwich layer close to the inner wall, and a water cooling mechanism is arranged on one side of the sandwich layer close to the outer wall. The heat exchange component and the water cooling mechanism are separated by a baffle; by adopting the above technical solution, the present invention has the advantages of more comprehensive heat dissipation and better effect, improves the service life of the robotic arm, can quickly dissipate heat from the robotic arm, and achieves the working state with the highest cooling efficiency. The baffle with a corrugated cross-sectional shape can maximize the heat exchange area between water and supercritical fluid, and can also play a role in strengthening the structural strength of the sandwich layer.

Description

Technical Field

[0001] The invention relates to a mechanical arm, in particular to a thermostatic robot mechanical arm. Background Art

[0002] With the development of science and technology, robots have gained attention in many industries. At present, robots can replace humans to complete many dangerous and complicated tasks, especially in industrial producers. The emergence of robots has greatly increased the production efficiency of the manufacturing industry, saved labor, reduced costs and maximized corporate profits.

[0003] However, at this stage, most of the actions of robots at work are powered by motors, and more actions are completed through telescopic rod transmission mechanisms such as hydraulic pumps. These devices will generate heat during operation. If the heat energy cannot be cooled in time, the overheated devices will increase the burden due to the continuous increase in resistance. Long-term load work will cause the machine to stop operating or even be damaged, especially in hot summer weather, when the atmospheric temperature is very high and the temperature in the workshop will be even higher; if exposed to direct sunlight, the outer shell temperature of the robotic arm will be higher than the internal temperature, which will cause a greater load on the various devices inside it, making it less conducive to long-term operation.

[0004] In summary, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0005] In view of the above-mentioned defects, an object of the present invention is to provide a constant temperature robot arm to solve the problem that the robot arm cannot be cooled mentioned in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A constant temperature robot mechanical arm comprises a large arm which is transmission-mounted on the robot, a small arm is transmission-mounted on one end of the large arm, a fan for ventilating the interior of the large arm is mounted on the large arm, the large arm comprises a large arm shell and an internal mounting cavity, the large arm shell comprises an inner wall and an outer wall and a sandwich therebetween, a heat exchange component for dissipating heat from the mounting cavity is arranged on one side of the sandwich near the inner wall, a water cooling mechanism is arranged on one side of the sandwich near the outer wall, and the heat exchange component and the water cooling mechanism are separated by a baffle.

[0008] The following is a further optimization of the above technical solution by the present invention:

[0009] The heat exchange component includes a hydraulic pump installed outside the boom housing and a medium flow channel provided on one side close to the inner wall in the interlayer. The output end of the hydraulic pump is communicated with one end of the medium flow channel, and the input end of the hydraulic pump is communicated with the other end of the medium flow channel.

[0010] Further: The medium flow channel is arranged in a ring shape in the interlayer and runs through the entire interlayer.

[0011] Further: The water cooling mechanism includes a water pump fixedly installed outside the boom housing and a water flow channel provided on one side close to the outer wall in the interlayer. The output end of the water pump is communicated with one end of the water flow channel, and the input end of the water pump is communicated with the other end of the water flow channel.

[0012] Further: A small refrigerator for cooling water is provided at the input end of the water pump.

[0013] Further: The circulation directions of the heat exchange component and the water cooling mechanism are opposite.

[0014] Further: The cross-sectional shape of the baffle is corrugated.

[0015] Further: The medium flow channel is filled with a supercritical fluid for heat exchange of the heat inside the installation cavity.

[0016] The present invention adopts the above technical solution, with a clever concept. This solution uses a supercritical fluid as the heat exchange medium. Since the supercritical fluid has very unique physical properties, it is very sensitive to changes in temperature and pressure, has low viscosity, high density, and good flow, mass transfer, heat transfer, and dissolution properties. Therefore, it has excellent effects as a heat circulation medium. In this embodiment, it is the best material as the heat exchange medium.

[0017] The driving device installed in the installation cavity generates heat during operation. This part of the heat is difficult to be discharged in the working cavity. Therefore, using a fan to ventilate the installation cavity will cause the air in the installation cavity to be disordered. These heats will be driven by the disordered air flow to continuously contact the inner wall, and the heat energy will be conducted to the inner wall. After the inner wall absorbs a part of the heat energy, it will then transmit this part of the heat energy to the supercritical fluid located in the medium flow channel. The supercritical fluid circulates in the medium flow channel driven by the hydraulic pump, continuously exchanging the heat on the inner wall.

[0018] A fan is used to ventilate the inside of the installation cavity, which will cause the airflow in the installation cavity to be turbulent, taking away the heat on the drive device, and the turbulent airflow will shuttle to various parts of the drive device, taking away the heat from each part, which has the advantages of more comprehensive heat dissipation and better effect. The inner wall is made of copper, because the thermal conductivity of copper is second only to gold and silver, and the price is relatively low, so it is the best thermal conductive material. Among them, supercritical fluid is a new material with good thermal conductivity and can flow, and can quickly absorb heat energy on the inner wall, so it has a good effect as a heat exchange medium.

[0019] The water is cooled by a small refrigerator. After the supercritical fluid absorbs part of the heat, the heat is dissipated by the water with a lower temperature. It should be noted that the supercritical fluid is used as a medium to cool the installation cavity instead of directly using water for cooling. This is because the thermal conductivity of the supercritical fluid is better than that of water, and it can absorb heat faster to achieve the purpose of quickly cooling the installation cavity. In addition, copper, as the most cost-effective conductive material, is easily oxidized when it encounters water. The thermal conductivity of oxidized copper is extremely poor. Therefore, the use of supercritical fluid in contact with the inner wall will not cause oxidation of copper and ensure the service life of the inner wall.

[0020] The circulation directions of the heat exchange component and the water cooling mechanism can also be arranged in opposite directions. The supercritical fluid flows toward one side, and the airflow in the installation cavity may concentrate the heat on part of the inner wall. In this way, the temperature of the supercritical fluid toward the end will be significantly lower than the temperature at the front end, and the temperature of the water at the front end will be significantly lower than the end. In actual work, the higher-temperature supercritical fluid at the front end takes away part of the heat through the higher-temperature water, and the water at this position has a higher temperature and a heat exchange efficiency with the outside world compared with the lower-temperature water at the front end, and has a more active molecular physical property. Therefore, the water at this position has better heat dissipation and can dissipate part of the heat through the outer wall, thereby reducing the working pressure of the small cooler and reducing energy to a certain extent.

[0021] Another possibility may occur during operation. The turbulent airflow in the installation cavity may transfer heat evenly to the inner wall. When the supercritical fluid flows in the medium flow channel, the temperature will become higher and higher. When it reaches the end of the medium flow channel, the temperature will reach the maximum value. This position happens to be the front end of the water flow channel with the lowest temperature. Due to the large temperature difference between the supercritical fluid and water, heat exchange can be carried out quickly, and the supercritical fluid can be cooled in time to achieve the working state with the highest cooling efficiency.

[0022] Due to the turbulent airflow in the installation cavity, the maximum heat exchange point between the airflow and the inner wall cannot be controlled and may change at any time. Therefore, it is necessary to change the circulation direction of the heat exchange component and the water cooling mechanism to cope with different situations in order to achieve the best cooling effect.

[0023] The baffle with a corrugated cross-sectional shape can maximize the heat exchange area between water and the supercritical fluid, achieving the best cooling effect, and can also strengthen the strength of the sandwich structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0025] Figure 2 is Figure 1 front view of

[0026] Figure 3 It is a schematic diagram of the structure of the boom housing 4 in the present invention;

[0027] Figure 4 is Figure 3 an enlarged view of part A in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Embodiment: Please refer to Figures 1-4 , a constant temperature robot manipulator, including a boom 1 drivingly installed on the robot, a forearm 2 drivingly installed at one end of the boom 1, a fan 3 installed on the boom 1 for ventilating the inside of the boom 1, the boom 1 includes a boom housing 4 and an installation cavity 5 inside, the boom housing 4 includes an inner wall 6, an outer wall 7 and a sandwich 8 in the middle thereof, a heat exchange component for dissipating heat from the installation cavity 5 is arranged on one side of the sandwich 8 close to the inner wall 6, a water cooling mechanism is arranged on one side of the sandwich 8 close to the outer wall 7, the heat exchange component and the water cooling mechanism are separated by a baffle 9, and the baffle 9 is only connected to the outer wall 7, there is a certain gap between the baffle 9 and the inner wall 6, forming a medium flow channel 10 and a plurality of water flow channels 11.

[0029] The heat exchange component includes a hydraulic pump installed outside the boom housing 4 and a medium flow channel 10 arranged on one side of the sandwich 8 close to the inner wall 6, the medium flow channel 10 is filled with a supercritical fluid for heat exchange of the heat inside the installation cavity 5, the output end of the hydraulic pump is communicated with one end of the medium flow channel 10, the input end of the hydraulic pump is communicated with the other end of the medium flow channel 10, and the hydraulic pump can circulate the supercritical fluid in the mass flow channel.

[0030] This solution uses a supercritical fluid as the heat exchange medium. Because the supercritical fluid has very unique physical properties, it is very sensitive to changes in temperature and pressure, has low viscosity, high density, and good flow, mass transfer, heat transfer and dissolution properties. Therefore, it has excellent effects as a heat circulation medium. In this embodiment, it is the best material as the heat exchange medium.

[0031] A driving device such as a motor for driving the robotic arm to complete various actions is installed in the installation cavity 5, and the inner wall 6 is made of copper material.

[0032] During operation, the driving device installed in the installation cavity 5 generates heat during operation. This part of the heat is difficult to be discharged in the working cavity. Therefore, when the blower 3 is used to ventilate the installation cavity 5, the air in the installation cavity 5 will be disordered. These heats will be driven by the disordered air flow to continuously contact the inner wall 6, and the heat energy will be conducted to the inner wall 6. After the inner wall 6 absorbs a part of the heat energy, this part of the heat energy will be transmitted to the supercritical fluid in the medium flow channel 10. The supercritical fluid circulates in the medium flow channel 10 driven by the hydraulic pump, continuously exchanging the heat on the inner wall 6.

[0033] With such a design, when the blower 3 is used to ventilate the inside of the installation cavity 5, the air flow in the installation cavity 5 will be disordered, taking away the heat on the driving device, and the disordered air flow will shuttle to various parts of the driving device, taking away the heat of each part. It has the advantages of more comprehensive heat dissipation and better effect. And the inner wall 6 is made of copper. Because the thermal conductivity of copper is second only to gold and silver, and the price is relatively low, it is the best heat-conducting material. Among them, the supercritical fluid is a new material with good heat conduction and can flow, and can quickly absorb the heat energy on the inner wall 6. Therefore, it has a very good effect as a heat exchange medium.

[0034] The medium flow channel 10 is arranged in a ring shape in the sandwich layer 8 and penetrates through the entire sandwich layer 8.

[0035] The water cooling mechanism includes a water pump 12 fixedly installed outside the large arm housing 4 and a water flow channel 11 arranged on one side of the outer wall 7 in the sandwich layer 8. The output end of the water pump 12 is communicated with one end of the water flow channel 11, the input end of the water pump 12 is communicated with the other end of the water flow channel 11, and a small refrigerator for cooling water is arranged at the input end of the water pump 12. The water flow channel 11 is filled with water.

[0036] After the water is cooled by the small refrigerator, after the supercritical fluid absorbs a part of the heat, the heat will be dissipated through the relatively low-temperature water. It should be noted that using the supercritical fluid as the medium to cool the installation cavity 5 instead of directly using water for cooling is because the thermal conductivity of the supercritical fluid is better than that of water, and it can absorb the heat faster to achieve the purpose of quickly cooling the inside of the installation cavity 5. And as the most cost-effective heat-conducting material, copper is prone to oxidation when encountering water, and the thermal conductivity of oxidized copper is extremely poor. Therefore, choosing to use the supercritical fluid to contact the inner wall 6 will not cause oxidation of copper and ensure the service life of the inner wall 6.

[0037] In this embodiment, the circulation direction of the heat exchange component and the water cooling mechanism can also be arranged in the opposite direction. When the supercritical fluid flows towards one side, the airflow in the installation cavity 5 may concentrate heat on some of the inner walls 6. In this way, the temperature of the supercritical fluid at the end will be significantly lower than that at the front end, while the front-end temperature of the water will be significantly lower than that at the end. During actual operation, the supercritical fluid at a higher temperature at the front end transfers some of its heat to the water at a higher temperature. Moreover, due to the higher temperature of the water at this position, compared with the water at a lower temperature at the front end, the water at this position has the physical property of more active molecules in terms of the heat exchange efficiency with the outside world. Therefore, the water at this position has better heat dissipation performance and can dissipate some of the heat through the outer wall 7, reducing the working pressure of the small cooler and, to a certain extent, reducing energy consumption.

[0038] Another possibility may occur during operation. The disordered airflow in the installation cavity 5 may evenly transfer heat to the inner wall 6. When the supercritical fluid flows in the medium flow channel 10, its temperature will become higher and higher. When it reaches the end of the medium flow channel 10, the temperature will reach the maximum value. This position happens to be the front end of the water flow channel 11 with the lowest temperature. Due to the large temperature difference between the supercritical fluid and the water, heat exchange can occur quickly, cooling the supercritical fluid in a timely manner and achieving the working state with the highest cooling efficiency.

[0039] Due to the disordered airflow in the installation cavity 5, the maximum heat exchange point between the airflow and the inner wall 6 cannot be controlled and will change at any time. Therefore, it is necessary to change the circulation direction of the heat exchange component and the water cooling mechanism to cope with different situations in order to achieve the best cooling effect.

[0040] The cross-sectional shape of the baffle 9 is corrugated.

[0041] This can maximize the heat exchange area between the water and the supercritical fluid, achieve the best cooling effect, and also enhance the structural strength of the sandwich layer 8.

[0042] Certainly, the present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention. However, these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

Claims

1. A thermostatic robot arm, comprising a large arm (1) which is installed on the robot, and a small arm (2) which is installed on one end of the large arm (1). Features: The boom (1) is provided with a fan (3) for ventilating the interior of the boom (1). The boom (1) comprises a boom shell (4) and an internal mounting cavity (5). The boom shell (4) comprises an inner wall (6), an outer wall (7) and an interlayer (8) therebetween. A heat exchange component for dissipating heat from the mounting cavity (5) is provided on the side of the interlayer (8) close to the inner wall (6). A water cooling mechanism is provided on the side of the interlayer (8) close to the outer wall (7). The heat exchange component and the water cooling mechanism are separated by a baffle (9), and the baffle (9) is only connected to the outer wall (7). There is a certain gap between the baffle (9) and the inner wall (6), forming a medium flow channel (10) and a plurality of water flow channels (11). The heat exchange component comprises a hydraulic pump installed outside the boom housing (4) and a medium flow channel (10) arranged in the interlayer (8) on one side close to the inner wall (6), the output end of the hydraulic pump being connected to one end of the medium flow channel (10), and the input end of the hydraulic pump being connected to the other end of the medium flow channel (10); The medium flow channel (10) is arranged in an annular shape in the interlayer (8) and runs through the entire interlayer (8); The water cooling mechanism comprises a water pump (12) fixedly mounted on the outside of the upper arm housing (4) and a water flow channel (11) arranged in the interlayer (8) on one side close to the outer wall (7), wherein the output end of the water pump (12) is connected to one end of the water flow channel (11), and the input end of the water pump (12) is connected to the other end of the water flow channel (11).

2. A thermostatic robot arm according to claim 1, Features: The input end of the water pump (12) is provided with a small refrigerator for cooling water.

3. A thermostatic robot arm according to claim 1, Features: The circulation direction of the heat exchange component is opposite to that of the water cooling mechanism.

4. A thermostatic robot arm according to claim 1, Features: The cross-section of the baffle (9) is corrugated.

5. A thermostatic robot arm according to claim 1, Features: The medium flow channel (10) is filled with a supercritical fluid for heat exchange with the internal heat of the installation cavity (5).

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