Robot joint module air flow circulation heat dissipation system and robot

Abstract

The application provides a robot joint module air flow circulation heat dissipation system and a robot. The robot joint module air flow circulation heat dissipation system comprises a shell (1) and a negative pressure generating device, the shell (1) is provided with a heat dissipation channel, the heat dissipation channel is configured to dissipate heat of parts in the shell (1), the heat dissipation channel has an air flow inlet and an air flow outlet, air flows into the heat dissipation channel through the air flow inlet and flows out from the air flow outlet, and the negative pressure generating device is arranged at the air flow outlet and generates negative pressure at the air flow outlet. According to the robot joint module air flow circulation heat dissipation system, the air flow can continuously and stably run, and the heat dissipation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot joint module air flow circulation heat dissipation system and a robot. BACKGROUND

[0002] The joint module shell of the collaborative robot joint module has reduction gears, servo motors, brakes, encoders and drivers and other components inside, which will generate heat when running. The joint module shell is generally designed as a sealed structure to meet higher protection levels, but it also affects the heat dissipation of the components. If the heat generated by the components cannot be quickly dissipated, the temperature inside the joint module shell will continue to rise, which will accelerate the aging of the precision components such as motors, encoders and drivers of the joint module, and reduce the service life of the control components.

[0003] In order to solve the problem of heat dissipation of internal components of the collaborative robot joint module, a heat dissipation device is disclosed in the related art, which introduces compressed air through an air pipe. The compressed air passes through a plurality of components inside the module, and is then sucked out by a fan blade arranged at the tail of the module and discharged to the outside of the module. The fan blade in the scheme is connected with the central shaft of the joint module, and the central shaft drives the fan blade to work when rotating. However, due to the influence of the action of the robot, the rotating direction of the central shaft is not fixed when the joint module is running, and the fan blade connected with the central shaft cannot always rotate in the same direction, so that the air inside the module cannot be continuously sucked, the heat dissipation process is not continuous, and the heat dissipation efficiency is low. SUMMARY

[0004] The main purpose of the present application is to provide a robot joint module air flow circulation heat dissipation system and a robot, which can realize continuous and stable operation of air flow and improve the heat dissipation efficiency.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a robot joint module air flow circulation heat dissipation system is provided, which comprises a shell and a negative pressure generating device. The shell is provided with a heat dissipation channel, the heat dissipation channel is configured to dissipate heat of components in the shell, the heat dissipation channel has an air inlet and an air outlet, air flows into the heat dissipation channel through the air inlet and flows out from the air outlet, and the negative pressure generating device is arranged at the air outlet and generates negative pressure at the air outlet.

[0006] Further, the negative pressure generating device comprises a vacuum generator, the vacuum generator comprises a working port, an air inlet and an air outlet, the heat dissipation channel comprises a first air pipe and a second air pipe, the first air pipe is in communication with the first end of the second air pipe and the air inlet of the vacuum generator respectively, the second end of the second air pipe is in communication with the inner cavity of the end of the shell away from the vacuum generator, and the inner cavity of the end of the shell close to the vacuum generator is in communication with the working port of the vacuum generator through a fourth air pipe.

[0007] Further, a partition is arranged in the shell, the partition divides the inner cavity of the shell into two parts, one part of the inner cavity is configured to install components, and the other part of the inner cavity is configured to install the vacuum generator, the first end of the fourth air pipe is communicated with the part of the inner cavity configured to install components through a third joint arranged on the partition, and the second end of the fourth air pipe is communicated with the working port through a fourth joint.

[0008] Further, the third joint and the fourth joint are located on two opposite sides of the vacuum generator.

[0009] Further, the heat dissipation channel further comprises a gas guide hole arranged on the side wall of the shell, the gas guide hole extends along the axial direction of the shell, the gas guide hole extends to the end of the shell away from the vacuum generator and is communicated with the inner cavity of the shell, and the second end of the second air pipe is communicated with the gas guide hole.

[0010] Further, the heat dissipation channel further comprises a first gas guide groove arranged on the inner wall of the shell, the first gas guide groove extends along the axial direction of the shell, the second end of the second air pipe is communicated with the first gas guide groove, and the airflow discharged by the second air pipe can flow to the end of the shell close to the vacuum generator through the first gas guide groove.

[0011] Further, the heat dissipation channel further comprises a first joint, and the first air pipe is communicated with the vacuum generator and the second air pipe through the first joint.

[0012] Further, the end of the shell is provided with a rear cover, the rear cover is detachably connected to the shell, and the vacuum generator is located between the rear cover and the partition.

[0013] Further, the shell further comprises a lateral cylinder body extending laterally, an inner cavity of the lateral cylinder body forms a fifth mounting cavity, and the heat dissipation channel comprises a third air pipe communicated with the first air pipe, and the third air pipe is communicated to the fifth mounting cavity.

[0014] Further, the bottom of the lateral cylinder body is provided with a baffle, the baffle separates the fifth mounting cavity from the inner cavity of the shell, a wire slot is arranged on the baffle, and the third air pipe is arranged in the wire slot.

[0015] Further, a sealing unit is fixedly arranged in the wire slot, and the third air pipe is sealingly matched with the wire slot through the sealing unit.

[0016] Further, the gas outlet of the vacuum generator is provided with a silencer.

[0017] Further, the shell comprises a first mounting cavity, a second mounting cavity, a third mounting cavity, a fourth mounting cavity and a sixth mounting cavity arranged in sequence along the axial direction, the diameters of the second mounting cavity, the third mounting cavity, the fourth mounting cavity and the sixth mounting cavity increase in sequence, the diameter of the first mounting cavity is greater than that of the second mounting cavity, and the negative pressure generating device is arranged in the sixth mounting cavity.

[0018] Further, the parts include a speed reducer, a motor, a brake, an encoder and a driver arranged in sequence along the axial direction, the speed reducer is installed in the first installation cavity, the motor is installed in the third installation cavity, the brake, the encoder and the driver are installed in the fourth installation cavity, the speed reducer and the motor are arranged in sequence along the axial direction, and the heat dissipation channel includes a spacing cavity between the speed reducer and the motor.

[0019] According to another aspect of the present application, a robot is provided, comprising the robot joint module airflow circulation heat dissipation system as described above.

[0020] According to the technical scheme of the present application, the robot joint module airflow circulation heat dissipation system comprises a shell and a negative pressure generating device, the shell is provided with a heat dissipation channel, the heat dissipation channel is configured to dissipate heat for the parts in the shell, the heat dissipation channel has an airflow inlet and an airflow outlet, the airflow enters the heat dissipation channel through the airflow inlet and flows out from the airflow outlet, the negative pressure generating device is arranged at the airflow outlet and generates negative pressure at the airflow outlet. The robot joint module airflow circulation heat dissipation system utilizes the heat dissipation channel inside the shell and the negative pressure generating device to form a heat dissipation loop, utilizes the negative pressure generated by the negative pressure generating device at the end of the heat dissipation loop to form the flow power of the airflow in the heat dissipation loop, improves the flow of the gas in the heat dissipation loop, prevents the airflow from stagnating in the joint module, since the heat dissipation loop utilizes the negative pressure generated by the negative pressure generating device to continuously generate negative pressure to realize the continuous flow of the airflow, is not affected by the action of the robot joint module, and can make the airflow flow smoothly in the heat dissipation loop in any state of the robot joint module, realizes the continuous and stable operation of the airflow, and improves the heat dissipation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, make an explanation of the application complete, and are not intended to limit the application unduly. In the drawings:

[0022] Figure 1 A cross-sectional structure view of the robot joint module airflow circulation heat dissipation system of the embodiment of the present application is shown;

[0023] Figure 2 A first axonometric structure view of the robot joint module airflow circulation heat dissipation system of the embodiment of the present application is shown;

[0024] Figure 3 A second axonometric structure view of the robot joint module airflow circulation heat dissipation system of the embodiment of the present application is shown;

[0025] Figure 4 A third axonometric structure view of the robot joint module airflow circulation heat dissipation system of the embodiment of the present application is shown;

[0026] Figure 5 A cross-sectional structural view of a shell of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0027] Figure 6 A first axonometric structural view of a shell of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0028] Figure 7 A second axonometric structural view of a shell of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0029] Figure 8 A third axonometric structural view of a shell of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0030] Figure 9 A first axonometric structural view of a partition of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0031] Figure 10 A second axonometric structural view of a partition of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0032] Figure 11 A first axonometric structural view of a back cover of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0033] Figure 12 A second axonometric structural view of a back cover of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0034] Figure 13 A first axonometric structural view of a first joint of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0035] Figure 14 A second axonometric structural view of a first joint of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0036] Figure 15 A first axonometric structural view of a second joint of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0037] Figure 16 A second axonometric structural view of a second joint of a robot joint module air flow circulation heat dissipation system of an embodiment of the present application is shown;

[0038] Figure 17A first isometric view of a third joint of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0039] Figure 18 A second isometric view of a third joint of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0040] Figure 19 A first isometric view of a fourth joint of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0041] Figure 20 A second isometric view of a fourth joint of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0042] Figure 21 A first isometric view of a vacuum generator of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0043] Figure 22 A second isometric view of a vacuum generator of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0044] Figure 23 A first isometric view of an air flow flow path of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown;

[0045] Figure 24 A second isometric view of an air flow flow path of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown; and

[0046] Figures 1 to 25 A structural schematic view of an air flow flow path of a robotic joint module air flow circulation heat dissipation system of an embodiment of the present invention is shown.

[0047] Wherein the above figures include the following reference numerals:

[0048] 1, shell; 101, first mounting cavity; 102, second mounting cavity; 103, third mounting cavity; 104, fourth mounting cavity; 1041, first threaded hole; 105, first air guide groove; 106, second air guide groove; 107, fifth mounting cavity; 108, wire passage; 109, sixth mounting cavity; 1091, second threaded hole; 110, air pipe groove; 111, air guide hole; 112, lateral cylinder; 113, baffle; 2, flange; 3, speed reducer; 4, central shaft; 5, motor; 6, brake; 7, encoder; 8, driver; 9, partition; 901, first mounting hole; 902, second mounting hole; 903, third mounting hole; 904, joint avoiding hole; 10, rear cover; 1001, fourth mounting hole; 1002, avoiding hole; 11, first air pipe; 12, first joint; 1201, first interface; 1202, second interface; 1203, third interface; 1204, fourth interface; 13, second air pipe; 14, second joint; 1401, fifth interface; 1402, sixth interface; 15, third air pipe; 16, third joint; 1601, seventh interface; 1602, eighth interface; 1603, locking nut; 1604, sealing gasket; 1605, fixing nut; 17, fourth air pipe; 18, fourth joint; 1801, ninth interface; 1802, tenth interface; 19, vacuum generator; 191, first side face; 1911, air outlet; 1912, fixing hole; 192, second side face; 1921, working port; 193, third side face; 1931, air inlet; 20, muffler; 21, sealing unit. DETAILED DESCRIPTION

[0049] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0050] In combination with ​ As shown in the drawings, according to the embodiment of the present application, the robot joint module air flow circulation heat dissipation system comprises a shell 1 and a negative pressure generating device, a heat dissipation channel is arranged in the shell 1, the heat dissipation channel is configured to dissipate heat for the components in the shell 1, the heat dissipation channel has an air flow inlet and an air flow outlet, the air flow enters the heat dissipation channel through the air flow inlet and flows out from the air flow outlet, the negative pressure generating device is arranged at the air flow outlet and generates negative pressure at the air flow outlet.

[0051] In the embodiment, the robot joint module airflow circulation heat dissipation system comprises a shell 1 and a negative pressure generating device, the shell 1 is internally provided with a heat dissipation channel, the heat dissipation channel is configured to dissipate heat for components in the shell 1, the heat dissipation channel has an airflow inlet and an airflow outlet, airflow enters the heat dissipation channel through the airflow inlet and flows out from the airflow outlet, and the negative pressure generating device is arranged at the airflow outlet and generates negative pressure at the airflow outlet. The robot joint module airflow circulation heat dissipation system utilizes the heat dissipation channel inside the shell 1 and the negative pressure generating device to form a heat dissipation loop, utilizes the negative pressure generated by the negative pressure generating device at the end of the heat dissipation loop to form flow power for airflow in the heat dissipation loop, improves the flow of the gas in the heat dissipation loop, prevents airflow from stagnating inside the joint module, and since the heat dissipation loop utilizes the negative pressure generated by the negative pressure generating device to continuously generate negative pressure to continuously flow the airflow, is not affected by the movement of the robot joint module, and can smoothly flow the airflow in the heat dissipation loop in any state of the robot joint module, realizes continuous and stable operation of the airflow, and improves heat dissipation efficiency.

[0052] The robot joint module airflow circulation heat dissipation system in the embodiment is provided with the negative pressure generating device at the airflow outlet position, utilizes the negative pressure generating device to form negative pressure at the airflow outlet of the heat dissipation channel, can form suction on the airflow in the heat dissipation channel, thereby accelerating the flow of the airflow in the heat dissipation channel and preventing airflow stagnation. Since the force for continuously flowing the airflow in the embodiment comes from the negative pressure generated by the negative pressure generating device, the generation of the negative pressure force is not affected by the rotation of the robot joint module, and therefore the generation of the negative pressure is continuous and stable, the flow of the airflow for dissipating heat of the robot joint module is continuous and stable, and heat dissipation efficiency is improved.

[0053] The negative pressure generating device can be a device capable of generating negative pressure, for example, can be a vacuum generator 19 or other devices capable of generating negative pressure.

[0054] In one embodiment, the negative pressure generating device comprises a vacuum generator 19, the vacuum generator 19 comprises a working port 1921, an air inlet 1931 and an air outlet 1911, the heat dissipation channel comprises a first air pipe 11 and a second air pipe 13, the first air pipe 11 is in communication with the first end of the second air pipe 13 and the air inlet 1931 of the vacuum generator 19 respectively, the second end of the second air pipe 13 is in communication with the inner cavity of the end of the shell 1 away from the vacuum generator 19, and the inner cavity of the end of the shell 1 close to the vacuum generator 19 is in communication with the working port 1921 of the vacuum generator 19 through the fourth air pipe 17. The vacuum generator 19 is also provided with a fixing hole 1912, which can facilitate the installation of the vacuum generator 19 on the rear cover 10 through bolts.

[0055] In the embodiment, the negative pressure generating device adopts the vacuum generator 19 to generate negative pressure, and the active airflow is generated by the communication between the first air pipe 11 and the air inlet 1931, so that the Venturi effect is formed by the airflow entering the air inlet 1931 after the airflow in the first air pipe 11 enters the air inlet 1931 and the second air pipe 13 of the vacuum generator 19, the negative pressure is formed at the working port 1921 of the vacuum generator 19, the suction effect is formed on the airflow of the second air pipe 13 entering the inner cavity of the shell 1 by the negative pressure formed by the working port 1921, and then the continuous and stable flow of the airflow in the inner cavity of the shell 1 is ensured. The whole structure is simple, stable, low in cost, does not need to increase additional kinetic energy, easy to realize, and low in noise.

[0056] In one embodiment, the shell 1 is provided with a partition plate 9, the partition plate 9 divides the inner cavity of the shell 1 into two parts, one part of the inner cavity is configured to install parts, and the other part of the inner cavity is configured to install the vacuum generator 19. The first end of the fourth air pipe 17 communicates with the part of the inner cavity provided with the parts through the third joint 16 arranged on the partition plate 9, and the second end of the fourth air pipe 17 communicates with the working port 1921 through the fourth joint 18.

[0057] The partition plate 9 is provided with a first mounting hole 901, a second mounting hole 902, a third mounting hole 903 and a joint avoiding hole 904. The first mounting hole 901 is used for mounting the third joint 16, the joint avoiding hole 904 is arranged at the center position of the partition plate 9, and the second mounting hole 902 is provided with a thread for mounting the vacuum generator 19. The third mounting hole 903 is uniformly arranged at the edge of the partition plate 9 and is used for connecting and fixing with the shell 1.

[0058] In one embodiment, the end of the shell 1 is provided with a rear cover 10, the rear cover 10 is detachably connected to the shell 1, and the vacuum generator 19 is located between the rear cover 10 and the partition plate 9. In the embodiment, by arranging the rear cover 10 at the end of the shell 1, the shell 1 and the rear cover 10 form a split structure at the end, so that the structure of the rear cover 10 can be flexibly designed according to the structure size of the vacuum generator 19, the cooperation between the rear cover 10 and the vacuum generator 19 is facilitated, and the structure of the robot joint module is more compact. Since the rear cover 10 can be replaced, the vacuum generator 19 can be conveniently replaced and maintained, and different types of rear covers 10 can be used for cooperation when different types of vacuum generators 19 are applied, so that the applicability is better.

[0059] In one embodiment, the air outlet 1911 of the vacuum generator 19 is provided with a silencer 20, the silencer 20 is arranged at the air outlet 1911 of the vacuum generator 19, can effectively mute when the vacuum generator 19 discharges airflow, reduce the overall noise of the robot joint module, and improve the user experience.

[0060] The rear cover 10 is provided with a fourth mounting hole 1001 and an avoiding hole 1002, and the muffler 20 is connected with the air outlet 1911 of the vacuum generator 19 through the avoiding hole 1002 by screwing.

[0061] In one embodiment, the heat dissipation channel further comprises a first joint 12, and the first air pipe 11 is communicated with the vacuum generator 19 and the second air pipe 13 through the first joint 12 respectively.

[0062] In the embodiment, for the purpose of maximizing the use of the narrow space between the partition plate 9 and the rear cover 10, the thickness of the vacuum generator 19 is equal to the distance between the partition plate 9 and the rear cover 10. The air inlet 1931 of the vacuum generator 19 is arranged on the third side face 193 which is attached to the partition plate 9, so that the first joint 12 is directly connected with the air inlet 1931 without the need of additional joints and air pipe adapters, which makes the internal pipeline of the joint module more simple. The air outlet 1911 is arranged on the first side face 191 which is attached to the rear cover 10, so that the muffler 20 is directly connected with the air outlet 1911, and the air flow can be directly discharged from the joint module outside through the muffler 20. The working port 1921 is arranged on the second side face 192 in the thickness direction of the vacuum generator 19, and is connected with the third joint 16 through the fourth air pipe 17, and the fourth air pipe 17 is arranged in parallel with the partition plate 9 and is arranged in the narrow space between the partition plate 9 and the rear cover 10.

[0063] In one embodiment, the third joint 16 and the fourth joint 18 are arranged on two opposite sides of the vacuum generator 19.

[0064] In the embodiment, the third joint 16 and the fourth joint 18 are arranged on two opposite sides of the vacuum generator 19, and the fourth air pipe 17 is arranged in a U-shaped structure and is arranged outside the vacuum generator, so that the fourth air pipe 17 is arranged on the side wall of the vacuum generator between the rear cover 10 and the partition plate 9, and thus does not affect the thickness dimension of the vacuum generator 19 between the rear cover 10 and the partition plate 9. In addition, the space around the vacuum generator 19 can be fully utilized, so that the third joint 16 and the fourth joint 18 are reasonably distributed, and the problems of inconvenient unfolding of the structure and insufficient and unreasonable use of space caused by the arrangement of the third joint 16 and the fourth joint 18 on the same side of the vacuum generator 19 are avoided.

[0065] In one embodiment, the shell 1 further comprises a lateral cylinder 112 extending laterally, an inner cavity of the lateral cylinder 112 forms a fifth mounting cavity 107, the heat dissipation channel comprises a third air pipe 15 communicating with the first air pipe 11, the third air pipe 15 communicates to the fifth mounting cavity 107. The third air pipe 15 can guide the airflow in the first air pipe 11 into the fifth mounting cavity 107, thereby effectively dissipating heat for the components located in the fifth mounting cavity 107, and can make the flow range of the heat dissipation channel wider, the heat dissipation range larger, and the heat dissipation effect of the robot joint module better.

[0066] Since the first air pipe 11 needs to be connected with the second air pipe 13, the third air pipe 15 and the vacuum generator 19 through the first joint 12, the first joint 12 can be designed as a cross structure, the first interface 1201 and the third interface 1203 are on the first axis, and the second interface 1202 and the fourth interface 1204 are on the second axis, wherein the first axis and the second axis are perpendicular. The first joint 12 is connected with the air inlet 1931 of the vacuum generator 19 through the threads arranged at the first interface 1201, the second interface 1202 is connected with one end of the second air pipe 13, the third interface 1203 is connected with one end of the first air pipe 11, and the fourth interface 1204 is connected with one end of the third air pipe 15. According to the installation positions of the first air pipe 11, the third air pipe 15 and the vacuum generator 19 inside the module, the first joint 12 is most suitable to be designed as a cross structure, which can effectively utilize the small space inside the joint module, reduce the lengths of the second air pipe 13 and the third air pipe 15, and make the pipeline arrangement inside the joint module more simple.

[0067] In one embodiment, the shell 1 further comprises a first mounting cavity 101, a second mounting cavity 102, a third mounting cavity 103, a fourth mounting cavity 104 and a sixth mounting cavity 109 arranged in sequence along the axial direction, the diameters of the second mounting cavity 102, the third mounting cavity 103, the fourth mounting cavity 104 and the sixth mounting cavity 109 increase in sequence, the diameter of the first mounting cavity 101 is larger than that of the second mounting cavity 102, and the negative pressure generating device is arranged in the sixth mounting cavity 109.

[0068] In the embodiment, the shell 1 is provided with the first mounting cavity 101, the second mounting cavity 102, the third mounting cavity 103, the fourth mounting cavity 104, the fifth mounting cavity 107 and the sixth mounting cavity 109, wherein the first mounting cavity 101, the second mounting cavity 102, the third mounting cavity 103, the fourth mounting cavity 104 and the sixth mounting cavity 109 are on the same axis, and the fifth mounting cavity 107 is perpendicular to the axis on which the above five mounting cavities are located. The fourth mounting cavity 104 is provided with a first threaded hole 1041 on the end face for mounting the partition plate 9, and the sixth mounting cavity 109 is provided with a second threaded hole 1091 on the end face for mounting the rear cover 10.

[0069] In the embodiment, the diameters of the structures of the first mounting cavity 101, the second mounting cavity 102, the third mounting cavity 103, the fourth mounting cavity 104, and the sixth mounting cavity 109 are different, so that steps can be formed between two adjacent mounting cavities, the steps can be used for positioning the installation of the components arranged in the shell 1, and installation positions can be provided, the self structure of the shell 1 can be more fully utilized to achieve the fixed installation of the components, the structure is more reasonable, and the installation and positioning of the components are facilitated, and the installation efficiency is improved. Since the positioning references of the first mounting cavity 101, the second mounting cavity 102, the third mounting cavity 103, the fourth mounting cavity 104, and the sixth mounting cavity 109 are consistent, the arrangement position accuracy of the components can be higher, and higher-precision cooperation can be achieved.

[0070] In one embodiment, the bottom of the lateral cylinder 112 is provided with a baffle 113, the baffle 113 separates the fifth mounting cavity 107 from the inner cavity of the shell 1, the baffle 113 is provided with a wire passing groove 108, and the third air pipe 15 is arranged in the wire passing groove 108. The baffle separates the fifth mounting cavity 107 from the third mounting cavity 103 and the fourth mounting cavity 104. The third air pipe 15 is arranged in the fifth mounting cavity 107, the motor 5 is arranged in the third mounting cavity 103, the brake 6, the encoder 7, and the driver 8 are arranged in the fourth mounting cavity 104. If the baffle 113 at the bottom of the fifth mounting cavity 107 is not blocked, the third air pipe 15 is easy to interfere with the brake 6, the encoder 7, and the driver 8, and affects the normal work of the brake 6, the encoder 7, and the driver 8. The wire passing groove 108 can communicate the fifth mounting cavity 107 with the fourth mounting cavity 104, so that the third air pipe 15 can be introduced into the fifth mounting cavity 107, and heat dissipation of the components in the fifth mounting cavity 107 can be achieved.

[0071] In one embodiment, a sealing unit 21 is fixedly arranged in the wire passing groove 108, and the third air pipe 15 is sealingly matched with the wire passing groove 108 through the sealing unit 21. The sealing unit 21 can be made of sponge, rubber, or other soft materials, which can prevent compressed air in the module from leaking to the outside of the module through the wire passing groove 108, and ensure the flow performance of the airflow in the module.

[0072] In one embodiment, the components include a speed reducer 3, a motor 5, a brake 6, an encoder 7, and a driver 8 arranged in sequence along the axial direction, the speed reducer 3 is arranged in the first mounting cavity 101, the motor 5 is arranged in the third mounting cavity 103, the brake 6, the encoder 7, and the driver 8 are arranged in the fourth mounting cavity 104, the speed reducer 3 and the motor 5 are arranged in sequence along the axial direction, and the heat dissipation channel includes a spacing cavity between the speed reducer 3 and the motor 5.

[0073] In the embodiment, the components are heat-generating components in the sealed space, such as the motor 5, the brake 6, the encoder 7, the driver 8, etc., and the heat dissipation channel is mainly used to provide heat dissipation for these components.

[0074] The speed reducer 3 is installed in the first installation cavity 101 and fixed to the shell 1 by screws. The main structure of the motor 5 is installed in the third installation cavity 103, and a small amount of structure is installed in the second installation cavity 102. There is a certain assembly gap between the speed reducer 3 and the small amount of structure of the motor 5 installed in the second installation cavity 102, and the assembly gap forms the above-mentioned spacing cavity.

[0075] In an embodiment, the assembly gap is about 5mm in size, and the assembly gap is part of the heat dissipation channel. The airflow flows out of the second air guide groove 106, passes through the assembly gap, and flows to the first air guide groove 105. If the assembly gap is too small, it will affect the flow of compressed air, and if the assembly gap is too large, the overall size of the joint module will be too large.

[0076] In an embodiment, the heat dissipation channel further includes an air guide hole 111 formed in the side wall of the shell 1. The air guide hole 111 extends in the axial direction of the shell 1, extends to the end of the shell 1 away from the vacuum generator 19, and communicates with the inner cavity of the shell 1. The second end of the second air pipe 13 communicates with the air guide hole 111.

[0077] In the embodiment, by providing the air guide hole 111 in the shell 1, the airflow can be conveniently guided from the end close to the vacuum generator 19 to the end away from the vacuum generator 19 through the second air pipe 13 and the air guide hole 111, so that the airflow can flow from the inner cavity of the shell 1 away from the vacuum generator 19 to the inner cavity close to the vacuum generator 19, thereby fully flowing through the motor 5, the brake 6, the encoder 7, the driver 8, etc., and providing good heat dissipation effect for these components.

[0078] In order to facilitate the setting of the air guide hole 111 and the connection of the second air pipe 13 and the air guide hole 111, the second air pipe 13 adopts a right-angle elbow structure and is connected to the air guide hole 111 through the second joint 14. The sixth installation cavity 109 is provided with an air pipe groove 110 which penetrates the fourth installation cavity 104 and the sixth installation cavity 109. The air pipe groove 110 is provided with the air guide hole 111 which communicates the air pipe groove 110 and the second air guide groove 106. By forming the air pipe groove 110 on the side wall of the shell 1, an installation groove which penetrates one side of the shell 1 can be formed on the side wall of the shell 1, which facilitates the installation of the second air pipe 13 and the machining and setting of the air guide hole 111.

[0079] In the embodiment, the second joint 14 is a straight structure, and the fifth interface 1401 and the sixth interface 1402 are arranged at two ends of the second joint 14. The fifth interface 1401 is arranged with threads and connected with the air guide hole 111, and the sixth interface 1402 is connected with the other end of the second air pipe 13, so that the air pipe can be arranged conveniently and the space occupation is reduced.

[0080] In one embodiment, the second joint 14 can also be a right-angle joint.

[0081] The third joint 16 is provided with the seventh interface 1601 and the eighth interface 1602 which are perpendicular to each other. The seventh interface 1601 is provided with the locking nut 1603, the sealing gasket 1604 and the fixing nut 1605. The third joint 16 is installed on the partition plate 9, the seventh interface 1601 is installed through the first installation hole 901 in the direction of the fourth installation cavity 104, the locking nut 1603 and the sealing gasket 1604 are located on the side of the partition plate 9 facing the fourth installation cavity 104, and the fixing nut 1605 is located on the side of the partition plate 9 facing the rear cover 10. The locking nut 1603 and the fixing nut 1605 are screwed in opposite directions on the threads of the seventh interface 1601, so as to fix the third joint 16 on the partition plate 9.

[0082] The third joint 16 is installed on the first installation hole 901 of the partition plate 9 through the cooperation of the locking nut 1603 and the fixing nut 1605, and the installation mode is simple and reliable. Meanwhile, the sealing gasket 1604 is arranged between the locking nut 1603 and the fixing nut 1605, so as to prevent air leakage from the first installation hole 901.

[0083] The third joint 16 is a right-angle joint, so that the air pipe can be arranged conveniently and the space occupation is reduced.

[0084] The third joint 16 can also be a straight structure.

[0085] The fourth joint 18 is provided with the ninth interface 1801 and the tenth interface 1802 which are perpendicular to each other. The fourth joint 18 is connected with the vacuum generator 19 through the threads arranged on the tenth interface 1802.

[0086] The fourth joint 18 is a right-angle joint, so that the air pipe can be arranged conveniently and the space occupation is reduced.

[0087] The fourth joint 18 can also be a straight structure.

[0088] In one embodiment, the heat dissipation channel further comprises a first air guide groove 105 formed on the inner wall of the shell 1, the first air guide groove 105 extends along the axial direction of the shell 1, and the second end of the second air pipe 13 communicates with the first air guide groove 105, and the airflow discharged from the second air pipe 13 can flow to the end of the shell 1 close to the vacuum generator 19 through the first air guide groove 105. The first air guide groove 105 penetrates the second mounting cavity 102, the third mounting cavity 103 and the fourth mounting cavity 104, and the openings of the first air guide groove 105 are all directed to the axial lines of the second mounting cavity 102, the third mounting cavity 103 and the fourth mounting cavity 104. The number of the first air guide groove 105 is multiple, and the first air guide groove 105 is uniformly distributed on the inner wall of the shell 1 along the circumferential direction of the shell 1.

[0089] The air guide hole 111 communicates with the spacing cavity between the speed reducer 3 and the motor 5, the spacing cavity has an annular structure and communicates with the plurality of first air guide grooves 105 extending along the axial direction. When the airflow enters the spacing cavity through the air guide hole 111, the airflow can be quickly distributed to the entire spacing cavity, and then flow to the first end where the vacuum generator 19 is located through the air guide hole 111 communicating with the spacing cavity. In the process of flowing, the airflow flows through each component, thereby effectively dissipating heat for each component.

[0090] The above-mentioned airflow is compressed air, which can provide flow power for the airflow flowing into the fifth mounting cavity 107, so that the air can flow smoothly to the fifth mounting cavity 107 and dissipate heat for the components in the fifth mounting cavity 107.

[0091] The robot joint module airflow circulation heat dissipation system further comprises a flange 2 and a central shaft 4, wherein the central shaft 4 is connected with the flange 2 through a bearing, so that the central shaft 4 can rotate relative to the flange 2. The flange 2 can facilitate the assembly of the robot joint module airflow circulation heat dissipation system.

[0092] The pipeline connection condition of the robot joint module airflow circulation heat dissipation system is as follows: one end of the first air pipe 11 is connected to a compressed air source, and the other end is connected to the third interface 1203 of the first joint 12. One end of the second air pipe 13 is connected to the sixth interface 1402 of the second joint 14 mounted on the air guide hole 111, and the other end is connected to the second interface 1202 of the first joint 12. One end of the third air pipe 15 is connected to the fourth interface 1204 of the first joint 12, and the other end extends to the fifth mounting cavity 107 through the wire slot 108 of the shell 1 to provide compressed air for other joint modules mounted in the fifth mounting cavity 107. A sealing unit 21 is used to seal between the third air pipe 15 and the wire slot 108. One end of the fourth air pipe 17 is connected to the eighth interface 1602 of the third joint 16, and the other end is connected to the ninth interface 1801 of the fourth joint 18.

[0093] When the joint module is working, compressed air enters the first joint 12 from the first air pipe 11 and is divided into air flow I, air flow II and air flow III at the first joint 12. The air flow I enters the third air pipe 15 from the first joint 12 to provide compressed air for other joint modules installed in the fifth installation cavity 107. The air flow II enters the air inlet 1931 of the vacuum generator 19 from the first joint 12 and is discharged to the outside of the joint module from the muffler 20 installed at the air outlet 1911. According to the working principle of the vacuum generator (Venturi effect), when the air flow II enters the air inlet 1931 of the vacuum generator 19, a vacuum negative pressure is generated at the working port 1921. Since the fourth joint 18 installed at the working port 1921 is connected to the third joint 16 through the fourth air pipe 17, a vacuum negative pressure also exists at the seventh interface 1601 of the third joint 16. The air flow III enters the guide hole 111 from the first joint 12, the second air pipe 13 and the second joint 14 in sequence and reaches the second guide groove 106 through the guide hole 111. Under the guidance of the second guide groove 106, the air flow III flows back to the first guide groove 105 through the assembly gap between the speed reducer 3 and the motor 5. Under the guidance of the first guide groove 105, the air flow III passes through the motor 5, the brake 6, the encoder 7 and the driver 8 in sequence near the third joint 16, and is finally sucked in under the action of the vacuum negative pressure at the seventh interface 1601 and enters the vacuum generator 19 through the third joint 16, the fourth air pipe 17 and the fourth joint 18 in sequence.

[0094] When the air flow III flows in the first guide groove 105, it passes through the heat-generating components such as the motor 5, the brake 6, the encoder 7 and the driver 8, drives the air flow near the heat-generating components, and effectively reduces the heat accumulation of the heat-generating components. The flow of compressed air in the joint module is not affected by the sealed structure of the joint module, and can provide good heat dissipation conditions for the heat-generating components.

[0095] The kinetic energy of the air flow III is lost after being blocked by the components such as the motor 5, the brake 6, the encoder 7 and the driver 8, and the flow rate decreases. In order to ensure the flow of the air flow III and ensure the heat dissipation effect, a negative pressure generating device composed of the vacuum generator 19, the fourth joint 18, the fourth air pipe 17 and the third joint 16 is arranged at the end of the joint module. The vacuum generator 19 generates a vacuum negative pressure under the action of the air flow II to provide suction force for the movement of the air flow III. When the air flow III flows to the vicinity of the third joint 16, it can be sucked into the vacuum generator 19, so that the air flow III continuously flows in the joint module without stagnation, and the heat-generating components are continuously cooled.

[0096] According to the embodiment of the application, the robot comprises the robot joint module air flow circulation heat dissipation system.

[0097] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0098] It should be noted that the terms "first", "second", and the like, herein do not necessarily have an ordinal meaning. Rather, such terms are used to distinguish between different structures, regions, or components, unless otherwise indicated by context. It should also be noted that like reference numerals are used to designate corresponding or similar components throughout the figures and the text.

[0099] The preferred embodiments of the application are described above in detail. The application is not limited to the embodiments described above, but can be modified in various ways which will be apparent to persons skilled in the art. It should be understood that the application can be carried out not only by the embodiments described above but also by other embodiments based on the principles of the application. Accordingly, many modifications and variations of the application are possible in light of the above teachings without departing from the spirit and scope of the application, and it is, therefore, to be understood that such modifications and variations are intended to be included within the scope of the following claims.

Claims

1. A robot joint module airflow circulation cooling system, characterized in that, The device includes a housing (1) and a negative pressure generating device. A heat dissipation channel is provided inside the housing (1) to dissipate heat from the components inside the housing (1). The heat dissipation channel has an airflow inlet and an airflow outlet. Airflow enters the heat dissipation channel through the airflow inlet and flows out through the airflow outlet. The negative pressure generating device is located at the airflow outlet and generates negative pressure there. The negative pressure generating device includes a vacuum generator (19), which includes a working port (1921), an air inlet (1931), and an air outlet. Air inlet (1911), the heat dissipation channel includes a first air pipe (11) and a second air pipe (13), the first air pipe (11) is connected to the first end of the second air pipe (13) and the air inlet (1931) of the vacuum generator (19) respectively, the second end of the second air pipe (13) is connected to the inner cavity of the outer shell (1) away from the vacuum generator (19), and the inner cavity of the outer shell (1) near the vacuum generator (19) is connected to the working port (1921) of the vacuum generator (19) through a fourth air pipe (17).

2. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The outer shell (1) is provided with a partition (9), which divides the inner cavity of the outer shell (1) into two parts. One part of the inner cavity is configured to install the component, and the other part of the inner cavity is configured to install the vacuum generator (19). The first end of the fourth air pipe (17) is connected to the part of the inner cavity where the component is installed through the third connector (16) provided on the partition (9), and the second end of the fourth air pipe (17) is connected to the working port (1921) through the fourth connector (18).

3. The robot joint module airflow circulation cooling system according to claim 2, characterized in that, The third connector (16) and the fourth connector (18) are located on two opposite sides of the vacuum generator (19).

4. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The heat dissipation channel also includes an air guide hole (111) opened on the side wall of the housing (1). The air guide hole (111) extends along the axial direction of the housing (1) and extends to one end of the housing (1) away from the vacuum generator (19) and communicates with the inner cavity of the housing (1). The second end of the second air pipe (13) communicates with the air guide hole (111).

5. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The heat dissipation channel also includes a first air guide groove (105) formed on the inner wall of the outer shell (1). The first air guide groove (105) extends along the axial direction of the outer shell (1). The second end of the second air pipe (13) is connected to the first air guide groove (105). The airflow from the second air pipe (13) can flow through the first air guide groove (105) to one end of the outer shell (1) near the vacuum generator (19).

6. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The heat dissipation channel also includes a first connector (12), and the first air pipe (11) is connected to the vacuum generator (19) and the second air pipe (13) respectively through the first connector (12).

7. The robot joint module airflow circulation cooling system according to claim 2, characterized in that, The end of the outer shell (1) is provided with a rear cover (10), which is detachably connected to the outer shell (1). The vacuum generator (19) is located between the rear cover (10) and the partition (9).

8. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The outer casing (1) also includes a laterally extending cylindrical body (112), the inner cavity of which forms a fifth mounting cavity (107), and the heat dissipation channel includes a third air pipe (15) connected to the first air pipe (11), the third air pipe (15) being connected to the fifth mounting cavity (107).

9. The robot joint module airflow circulation cooling system according to claim 8, characterized in that, The bottom of the side cylinder (112) is provided with a baffle (113), which separates the fifth mounting cavity (107) from the inner cavity of the outer shell (1). The baffle (113) is provided with a wire groove (108), and the third air pipe (15) passes through the wire groove (108).

10. The robot joint module airflow circulation cooling system according to claim 9, characterized in that, A sealing unit (21) is fixedly installed inside the wire passage groove (108), and the third air pipe (15) forms a sealed fit with the wire passage groove (108) through the sealing unit (21).

11. The robot joint module airflow circulation cooling system according to claim 1, characterized in that, The vacuum generator (19) is equipped with a silencer (20) at its outlet (1911).

12. The robot joint module airflow circulation cooling system according to any one of claims 1 to 11, characterized in that, The outer casing (1) includes a first mounting cavity (101), a second mounting cavity (102), a third mounting cavity (103), a fourth mounting cavity (104), and a sixth mounting cavity (109) arranged sequentially along the axial direction. The diameters of the second mounting cavity (102), the third mounting cavity (103), the fourth mounting cavity (104), and the sixth mounting cavity (109) increase sequentially. The diameter of the first mounting cavity (101) is larger than the diameter of the second mounting cavity (102). The negative pressure generating device is disposed in the sixth mounting cavity (109).

13. The robot joint module airflow circulation cooling system according to claim 12, characterized in that, The components include a speed reducer (3), a motor (5), a brake (6), an encoder (7), and a driver (8) arranged sequentially along the axial direction. The speed reducer (3) is installed in the first mounting cavity (101), the motor (5) is installed in the third mounting cavity (103), and the brake (6), the encoder (7), and the driver (8) are installed in the fourth mounting cavity (104). The speed reducer (3) and the motor (5) are spaced apart along the axial direction. The heat dissipation channel includes a spacer cavity between the speed reducer (3) and the motor (5).

14. A robot, comprising a robot joint module airflow circulation cooling system, characterized in that, The robot joint module airflow circulation cooling system is the robot joint module airflow circulation cooling system according to any one of claims 1 to 13.

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