A robot joint arm and robot

Abstract

The application relates to a joint arm for a robot and the robot. The joint arm comprises an arm body, the arm body can rotate around a rotating axis, and a plurality of circular arc-shaped heat dissipation channels are formed at the end of the arm body, the centers of the circular arc-shaped heat dissipation channels are concentric with the rotating axis, and the radii are different. The application facilitates the passing of heat dissipation air, reduces air resistance, improves air flow, improves the heat dissipation efficiency of the robot joint, improves the performance and service life of the parts of the robot joint, and improves the service life and reliability of the whole robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an articulated arm for robots and a robot. Background Technology

[0002] Robot joints are critical structural components and also major heat sources. They contain motors, reducers, seals, and lubricants. Excessive joint temperature reduces the lifespan and performance of these components, further impacting the overall robot performance and lifespan, and decreasing reliability. Therefore, excellent heat dissipation is essential for improving robot performance and reliability.

[0003] In related technologies, robot motion joints suffer from poor heat dissipation, which leads to a decline in the performance and lifespan of robot motors, reducers, sealing elements, and lubricants, thus affecting the reliability of the robot. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a jointed arm for robots and a robot.

[0005] The present invention provides a joint arm for a robot, comprising: an arm body, the arm body being rotatable about a rotation axis, and a plurality of arc-shaped heat dissipation channels formed at the end of the arm body, wherein the centers of the plurality of arc-shaped heat dissipation channels are concentric with the rotation axis and have different radii.

[0006] In some embodiments, the arc-shaped heat dissipation channel includes a first heat dissipation channel and a second heat dissipation channel that are connected to each other. In the rotation direction of the arm body, the first heat dissipation channel is formed on at least one side of the arc-shaped heat dissipation channel, and the second heat dissipation channel is formed in the middle of the arc-shaped heat dissipation channel, wherein the width of the first heat dissipation channel is greater than the width of the second heat dissipation channel.

[0007] In some embodiments, the width of the first heat dissipation channel gradually decreases from the side towards the center.

[0008] In some embodiments, during the rotation of the arm body, the gas pressure at the second heat dissipation channel is greater than the gas pressure at the first heat dissipation channel.

[0009] In some embodiments, the arc-shaped heat dissipation channel is an arc-shaped groove formed at the end of the arm body.

[0010] In some embodiments, a plurality of arc-shaped heat dissipation fins are provided at the end of the arm body, and the gap between each two adjacent arc-shaped heat dissipation fins forms an arc-shaped heat dissipation channel.

[0011] In some embodiments, the arc-shaped heat dissipation channel is formed at the bottom of the end of the arm body.

[0012] The present invention also provides a robot, characterized in that it includes: an articulated arm as described in any of the above embodiments.

[0013] In some embodiments, the device includes: a base; a first motor disposed on the base, the output end of the first motor being connected to the arm body; a connecting arm disposed at the end of the arm body; and a second motor disposed on the connecting arm, the output end of the second motor being connected to the end of the arm body.

[0014] In some embodiments, the second motor is connected to the end of the arm body via a reducer, and a sealing ring is provided between the reducer and the end of the arm body.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0016] During the rotation of the articulated arm around the rotation axis, due to the design of multiple arc-shaped heat dissipation channels, which are concentric with the rotation axis and have different radii, multiple arc-shaped heat dissipation channels are arranged along the length of the arm body. This design facilitates the passage of heat dissipation air, reduces wind resistance, increases airflow, improves the heat dissipation efficiency of the robot joint, improves the performance and service life of the robot joint components, and improves the service life and reliability of the entire robot.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0018] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0019] Figure 1 This is a schematic diagram of a robot structure according to an exemplary embodiment of the present invention;

[0020] Figure 2 This is a cross-sectional view of a robot according to an exemplary embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of an articulated arm structure according to an exemplary embodiment of the present invention;

[0022] Figure 4This is a schematic diagram of the articulated arm from another angle according to an exemplary embodiment of the present invention;

[0023] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0024] In the description of this invention, it should be noted that the terms "inner" and "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "contact," and "communication" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] This invention provides an articulated arm for robots, which can improve the heat dissipation efficiency of robot joints, improve the performance and service life of robot joint components, and improve the service life and reliability of the entire robot.

[0027] like Figures 1 to 4 As shown, the robot articulated arm includes: an arm body 20, which can rotate around a rotation axis J1. Multiple arc-shaped heat dissipation channels are formed at the end of the arm body 20. The centers of the multiple arc-shaped heat dissipation channels are concentric with the rotation axis J1, but have different radii.

[0028] For example, the arm body 20 includes a rotating end 202 and an end effector 201. The rotating end can be fixed to the robot base 10 and connected via a first motor 11 and a first reducer 12 to achieve rotation around the rotation axis J1. The end effector is used to connect to the connecting arm 30. During the rotation of the articulated arm around the rotation axis J1, due to the design of multiple arc-shaped heat dissipation channels, which are concentric with the rotation axis J1 and have different radii, multiple arc-shaped heat dissipation channels are arranged along the length of the arm body 20. This design facilitates the passage of cooling air, reduces wind resistance, increases airflow, improves the heat dissipation efficiency of the robot joint, improves the performance and service life of the robot joint components, and improves the service life and reliability of the entire robot.

[0029] In some embodiments, the aforementioned arc-shaped heat dissipation channel may be an arc-shaped groove formed at the end of the arm body 20. Multiple arc-shaped grooves may be formed at the bottom of the end of the arm body 20, and the centers of the multiple arc-shaped grooves are concentric with the rotation axis J1, but have different radii.

[0030] In other embodiments, multiple arc-shaped heat dissipation fins can be provided at the end of the arm body 20, with the gap between each pair of adjacent arc-shaped heat dissipation fins forming an arc-shaped heat dissipation channel. Multiple protruding arc-shaped heat dissipation fins can be provided at the bottom of the end of the arm body 20, with the centers of the multiple arc-shaped heat dissipation fins concentric with the rotation axis J1, but with different radii. The arc-shaped heat dissipation fins can be directly die-cast or installed through independent disassembly and assembly. Compared to the groove design, the heat dissipation fins can increase the heat dissipation area, have a simple structure, low processing cost, and excellent process performance.

[0031] In some embodiments, the arc-shaped heat dissipation channel includes a first heat dissipation channel 21 and a second heat dissipation channel 22 that are connected to each other. In the rotation direction of the arm body 20, the first heat dissipation channel 21 is formed on at least one side of the arc-shaped heat dissipation channel, and the second heat dissipation channel 22 is formed in the middle of the arc-shaped heat dissipation channel. The width of the first heat dissipation channel 21 is greater than the width of the second heat dissipation channel 22, such that the first heat dissipation channel 21 forms an expanding channel and the second channel forms a converging channel.

[0032] For example, in the rotational direction of the arm body 20, the arm body 20 has a first side 203 and a second side 204, and the width of the first heat dissipation channel 21 is greater than the width of the second heat dissipation channel 22 by forming cuts on both sides of each arc-shaped heat dissipation fin.

[0033] During the rotation of the arm body, the gas pressure at the second heat dissipation channel 22 is greater than the gas pressure at the first heat dissipation channel 21.

[0034] Specifically, heat dissipation fins are designed below the J2 joint at the end of the arm body 20. Each fin is arc-shaped, with its center concentric with the rotation axis of the J1 joint, facilitating airflow and reducing wind resistance. An expansion channel (first heat dissipation channel 21) and a convergence channel (second heat dissipation channel 22) are provided between adjacent fins. The convergence channel is arc-shaped and concentric with the rotation axis of the arm (arm body 20). Expansion channels can be provided on both sides, with the width D1 of the expansion channel being greater than the width D2 of the convergence channel, where D2 = R1 - R2, and the fin thickness = R2 - R3. According to the Laval effect and Bernoulli's principle, the Laval effect indicates that the flow velocity along the convergence channel increases while the pressure and temperature decrease; Bernoulli's principle states that kinetic energy + gravitational potential energy + pressure potential energy = constant, i.e., p + ρv. 2+ρgh = constant, therefore, when the robot's J1 joint rotates horizontally, the gravitational potential energy is the same. The air velocity v1 in the fin expansion channel (first heat dissipation channel 21) is relatively small, and p1 is close to the atmospheric pressure p around the arm body 20. As the arm body 20 rotates and the expansion channel gradually shrinks, while the convergence channel becomes arc-shaped, the air velocity v2 in the convergence channel is larger and the pressure p2 is smaller. Under the action of pressure, more peripheral air is forced into the flow channel to participate in heat dissipation exchange, increasing the flow rate and heat exchange of the heat dissipation air, thereby improving the heat dissipation performance of the fins and achieving the improvement of the heat dissipation performance of the J2 joint. The J1 joint has the same heat dissipation effect in both left and right rotation directions.

[0035] Furthermore, the width of the first heat dissipation channel 21 gradually decreases from the side to the center, presenting a trumpet shape, which facilitates air circulation.

[0036] The present invention also provides a robot, including: an articulated arm as described in any of the above embodiments.

[0037] The robot includes: a base 10. A first motor 11 is fixedly mounted on the base 10, and the output end of the first motor 11 is connected to the arm body 20. The first motor 11 can be connected to the rotating end of the arm body 20 via a first reducer 12, and the first motor 11 drives the first reducer 12 to rotate the arm body 20. A connecting arm 30 is disposed at the end of the arm body 20; a second motor 31 is disposed on the connecting arm 30, and the output end of the second motor is connected to the end of the arm body 20.

[0038] The second motor 31 is connected to the end of the arm body 20 through the second reducer 32, and a sealing ring is provided between the second reducer 32 and the end of the arm body 20.

[0039] Specifically, taking the J2 joint of the horizontal multi-joint robot SCARA as an example, such as... Figure 1 As shown, the robot structure in this invention mainly includes a base 10, an upper arm (articular arm 20), a lower arm (connecting arm 30), a lead screw assembly 40, an outer cover, cables, and other major components. Figure 2As shown, the robot uses a J1 joint motor to drive a J1 joint reducer, which in turn rotates the upper arm. The axis of motion is the rotation axis of the J1 joint. Similarly, the J2 joint uses a J2 joint motor to drive a J2 reducer, which in turn rotates the lower arm. The axis of motion is the rotation axis of the J2 joint. The J2 joint is installed at the end of the upper arm. A sealing element, typically an O-ring, is installed between the reducer and the upper arm. Lubricating grease is placed in the upper and lower spaces of the reducer, primarily for lubrication and also for heat dissipation. During robot operation, the motors and reducers generate heat, resulting in high joint temperatures. Excessive temperatures can negatively impact the performance, lifespan, and reliability of the reducer, motor, sealing elements, and lubricating grease, reducing the robot's lifespan and performance, and increasing maintenance costs and failure rates. Under the control of a motion controller and servo driver, single joint movement and multi-joint linkage can be achieved, enabling the robot's end effector to perform circular and linear coupled movements. Regardless of whether it's circular or linear motion, the arm driven by joint J1 rotates around the axis of rotation of joint J1. All structures on the arm share the same axis of rotation. Based on this motion characteristic, this invention forms a heat dissipation channel at joint J2 of the arm. This channel is arc-shaped, with its center concentric with the axis of rotation of the arm, facilitating the passage of cooling air, reducing wind resistance, and increasing airflow. The invention also incorporates multiple finned structures to form the heat dissipation channel. Expansion and convergence channels are provided between the fins, with the convergence channel concentric with the axis of rotation of the arm, and the width of the expansion channel greater than that of the convergence channel. This design improves the heat dissipation efficiency of the robot joints, enhances the performance and lifespan of the robot joint components, and improves the overall lifespan and reliability of the robot. Furthermore, the robot of this invention features a simple structure, low cost, ease of manufacturing, and excellent heat dissipation. This invention can reduce robot joint maintenance costs and improve robot utilization efficiency.

[0040] It can be further understood that in this disclosure, "multiple" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0041] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0042] It is further understood that although operations are described in a specific order in the accompanying drawings in the embodiments of this disclosure, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all of the shown operations to be performed to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0043] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0044] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. An articulated arm for a robot, characterized in that, include: The arm body is capable of rotating around a rotation axis. Multiple arc-shaped heat dissipation channels are formed at the end of the arm body. The centers of the multiple arc-shaped heat dissipation channels are concentric with the rotation axis, but have different radii. The arc-shaped heat dissipation channel includes a first heat dissipation channel and a second heat dissipation channel that are connected to each other. In the rotation direction of the arm body, the first heat dissipation channel is formed on at least one side of the arc-shaped heat dissipation channel, and the second heat dissipation channel is formed in the middle of the arc-shaped heat dissipation channel. The width of the first heat dissipation channel is greater than the width of the second heat dissipation channel, and the width of the first heat dissipation channel gradually decreases from the side to the middle. The two ends of the second heat dissipation channel are respectively connected to the first heat dissipation channel.

2. The articulated arm for robots according to claim 1, characterized in that, During the rotation of the arm body, the gas pressure at the second heat dissipation channel is greater than the gas pressure at the first heat dissipation channel.

3. The articulated arm for a robot according to any one of claims 1-2, characterized in that, The arc-shaped heat dissipation channel includes an arc-shaped groove formed at the end of the arm body.

4. The articulated arm for a robot according to any one of claims 1-2, characterized in that, Multiple arc-shaped heat dissipation fins are provided at the end of the arm body, and the gap between each two adjacent arc-shaped heat dissipation fins forms an arc-shaped heat dissipation channel.

5. The articulated arm for robots according to claim 1, characterized in that, The arc-shaped heat dissipation channel is formed at the bottom of the end of the arm body.

6. A robot, characterized in that, include: The articulated arm for a robot as described in any one of claims 1-5.

7. The robot according to claim 6, characterized in that, include: Base; A first motor is mounted on the base, and its output end is connected to the arm body. A connecting arm is disposed at the end of the arm body; A second motor is disposed on the connecting arm, and the output end of the second motor is connected to the end of the arm body.

8. The robot according to claim 7, characterized in that, The second motor is connected to the end of the arm body through a reducer, and a sealing ring is provided between the reducer and the end of the arm body.

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