A humidity control method for a robot joint sealing module

Abstract

The present application discloses a robot joint sealing module and a humidity control method thereof, including a housing, a flange and an end cover, a motor is arranged in the housing, the flange and the motor cooperate to form a first chamber, a first sealing member is arranged outside the flange, a second sealing member is arranged between the flange and the housing, a third sealing member is arranged between the end cover and the housing, a third chamber is formed in the housing, a fourth sealing member is arranged in the third chamber, and the first sealing member, the second sealing member, the third sealing member and the fourth sealing member can improve the sealing performance. The motor is provided with a heating and temperature raising module, a hygroscopic material is arranged inside the end cover, the first humidity sensor, the second humidity sensor and the third humidity sensor can detect the sealing performance in the housing, the hygroscopic material and the heating and temperature raising module can reduce the humidity in the housing, and protect the robot joint sealing module.

Description

Technical Field

[0001] The present application relates to the technical field of robot equipment, and in particular to a humidity control method for a robot joint sealing module. Background Art

[0002] Robots have been widely used in many scenarios. In some specific scenarios, such as loading and unloading of machine tools, due to the presence of cutting fluid and oil mist in the machine tools, high requirements are placed on the protection and sealing of the robots. In robots without sufficient sealing and protective protection, cutting fluid, oil mist and other gas and liquid in the machine tools will enter the interior of the robot, contaminating the encoder, corroding the motor and reducer, shortening the life of the robot and causing the production line to stop. At present, the usual method to improve the protection and sealing of robots is to seal with glue. This method is difficult to control the quality and difficult to disassemble and repair for subsequent maintenance. In specific environmental applications such as medical, semiconductor industries or dust-free workshops with cleanliness requirements, it is also required that the robot itself cannot cause pollution to the external environment. The robot joint sealing module on the market includes a harmonic reducer. The sealing of the harmonic reducer itself cannot completely ensure that the internal lubricating material does not leak. This leakage phenomenon occurs from time to time, causing damage to the application of the robot and affecting the safety of the robot's use and application. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a robot joint sealing module with good sealing performance and capable of detecting the sealing performance.

[0004] The present application also proposes a humidity control method for a robot joint sealing module.

[0005] A robot joint sealing module according to the first aspect of the present application includes:

[0006] A housing, wherein a motor is disposed in the housing, and the motor is provided with a heating and temperature raising module;

[0007] A flange, wherein the flange is arranged on one side of the housing, the flange cooperates with the motor to form a first chamber, a first humidity sensor is arranged in the first chamber, a first sealing member is arranged outside the flange, and a second sealing member is arranged between the flange and the motor;

[0008] An end cap, wherein the end cap is arranged at one side of the shell, the end cap cooperates with the shell to form a second chamber, a third sealing member is arranged between the end cap and the shell, a second humidity sensor is arranged in the second chamber, and a hygroscopic material is arranged inside the end cap;

[0009] A third chamber is formed in the shell, and a third humidity sensor and a fourth sealing member arranged between the motor and the shell are arranged in the third chamber.

[0010] A robot joint sealing module according to the first embodiment of the present application has at least the following beneficial effects: a robot joint sealing module of the present application includes a shell, a flange and an end cover, a motor is arranged in the shell, the flange and the motor cooperate to form a first chamber, a first sealing member is arranged on the outside of the flange, a second sealing member is arranged between the flange and the motor, a third sealing member is arranged between the end cover and the shell, a third chamber is formed in the shell, a fourth sealing member is arranged in the third chamber, and the first sealing member, the second sealing member, the third sealing member and the fourth sealing member can improve the sealing performance. A first humidity sensor is arranged in the first chamber, a second humidity sensor is arranged in the second chamber, a heating and temperature raising module is arranged in the motor, a hygroscopic material is arranged on the inner side of the end cover, and a third humidity sensor is arranged in the third chamber. The first humidity sensor, the second humidity sensor and the third humidity sensor can detect the sealing performance in the shell, and the hygroscopic material and the heating and temperature raising module can reduce the humidity in the shell to protect the robot joint sealing module.

[0011] According to some embodiments of the present application, a groove is provided on the inner side of the flange, and the second sealing member is provided in the groove.

[0012] According to some embodiments of the present application, a groove is provided at a connection between the housing and the motor, and the fourth sealing member is provided in the groove.

[0013] According to some embodiments of the present application, a support ring is provided on the end surface of the shell.

[0014] According to some embodiments of the present application, a fifth sealing member for fixing the support retainer is further provided on the outside of the shell.

[0015] According to some embodiments of the present application, the end cover is detachably mounted on the shell.

[0016] According to some embodiments of the present application, the motor includes a housing and a harmonic reducer, the harmonic reducer is installed in the housing, and the harmonic reducer is provided with a double oil seal.

[0017] According to the humidity control method of the robot joint sealing module of the first aspect of the present application, the robot joint sealing module includes the above-mentioned robot joint sealing module, and further includes:

[0018] The first humidity sensor monitors the humidity of the first chamber to obtain a humidity value of the first chamber;

[0019] The second humidity sensor monitors the humidity of the second chamber to obtain a humidity value of the second chamber;

[0020] The third humidity sensor monitors the humidity of the third chamber to obtain a humidity value of the third chamber;

[0021] comparing the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value with a rated humidity value;

[0022] When the humidity value of the first chamber, the humidity value of the second chamber and the humidity value of the third chamber are all less than the rated humidity value, the robot joint sealing module works normally;

[0023] When the humidity value of the first chamber is greater than or equal to the rated humidity value and / or the humidity value of the second chamber is greater than or equal to the rated humidity value and the humidity value of the third chamber is less than the rated humidity value, the robot joint sealing module continues to work and turns on the heating and temperature raising module of the motor;

[0024] When the humidity value of the third chamber is greater than or equal to the rated humidity value, the robot joint sealing module stops working, adjusts its posture and leaves the working environment.

[0025] According to some embodiments of the present application, an alarm module is further included, and the alarm module includes a display component for displaying the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value.

[0026] According to some embodiments of the present application, the rated humidity value is 80%.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 This is a schematic structural diagram of a robot joint sealing module according to an embodiment of the present application;

[0030] Figure 2 yes Figure 1 The enlarged structural schematic diagram of A shown;

[0031] Figure 3 yes Figure 1 An enlarged schematic diagram of the structure at B is shown. DETAILED DESCRIPTION

[0032] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0033] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0034] In the description of this application, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, assembling, and matching should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0036] Refer to the following Figures 1 to 3 A robot joint sealing module according to an embodiment of the present application is described.

[0037] A robot joint sealing module according to an embodiment of the present application, such as Figures 1 to 3As shown, it includes a housing 100, a flange 200 and an end cover 300, the flange 200 is arranged on one side of the housing 100, the flange 200 cooperates with the motor 400 to form a first chamber 710, a first humidity sensor 610 is arranged in the first chamber 710, a first sealing member 510 is arranged on the outside of the flange 200, and a second sealing member 520 is arranged between the flange 200 and the motor 400. The first sealing member 510 protects the inside of the flange 200 from the outside of the flange 200, and can prevent oil mist from entering through the mounting screw position at the front end of the flange 200, thereby effectively preventing the oil mist from damaging the motor 400 in the housing 100. The second sealing member 520 seals between the flange 200 and the motor 400, and can improve the sealing performance between the motor 400 and the flange 200. The first sealing member 510 and the second sealing member 520 are respectively arranged on the outside and inside of the flange 200, and can realize multi-layer sealing of the first chamber 710 from both inside and outside, thereby improving the sealing effect.

[0038] The end cap 300 is arranged on one side of the housing 100. The end cap 300 cooperates with the housing 100 to form a second chamber 720. A third sealing member 530 is arranged between the end cap 300 and the housing 100. A second humidity sensor 620 is arranged in the second chamber 720. The third sealing member 530 seals between the end cap 300 and the housing 100, which can improve the sealing performance between the end cap 300 and the housing 100 and protect the second chamber 720. A hygroscopic material 310 is arranged on the inner side of the end cap 300. The hygroscopic material 310 can absorb the gas and liquid entering the second chamber 720, reduce the humidity in the second chamber 720, and improve the protection effect of the second chamber 720.

[0039] A third chamber 730 is formed in the housing 100, and a third humidity sensor 630 and a fourth sealing member 540 arranged between the motor 400 and the housing 100 are arranged in the third chamber 730. The fourth sealing member 540 is sealed between the motor 400 and the housing 100, which can improve the sealing performance between the motor 400 and the housing 100. The first sealing member 510, the second sealing member 520, the third sealing member 530 and the fourth sealing member 540 can seal the housing 100 from multiple positions to improve the sealing performance of the robot joint sealing module. It should be noted that when the sealing of the housing 100 is destroyed, the external gas and liquid first enter the first chamber 710 and the second chamber 720, and the main body of the motor 400 is arranged in the third chamber 730. The first sealing member 510 and the second sealing member 520 seal and protect the first chamber 710, and the third sealing member 530 seals and protects the second chamber 720. The protection of the main body of the motor 400 is achieved through multi-layer sealing, thereby improving the sealing effect. The motor 400 is provided with a heating and temperature raising module, a first humidity sensor 610 is provided in the first chamber 710, a second humidity sensor 620 is provided in the second chamber 720, and a third humidity sensor 630 is provided in the third chamber 730. The first humidity sensor 610, the second humidity sensor 620 and the third humidity sensor 630 can detect the sealing performance in the housing 100. According to the detection results of the first humidity sensor 610, the second humidity sensor 620 and the third humidity sensor 630, the heating and temperature raising module can start heating, thereby reducing the humidity in the housing 100 and protecting the robot joint sealing module. It should be noted that in some embodiments, the first sealing member 510, the second sealing member 520, the third sealing member 530 and the fourth sealing member 540 are configured as sealing rings.

[0040] According to some embodiments of the present application, a groove is provided on the inner side of the flange 200, and the second sealing member 520 is provided in the groove. A second sealing member 520 is provided between the flange 200 and the motor 400. Specifically, a groove is provided on the inner side of the flange 200, and the second sealing member 520 is provided in the groove. The second sealing member 520 seals between the flange 200 and the motor 400, and can prevent gas and liquid such as oil mist from entering through the installation gap between the output steel wheel of the motor 400 and the flange 200, and avoid gas and liquid from penetrating into the position where the motor 400 is located, causing damage to electrical components, improving the sealing performance between the motor 400 and the flange 200, and ensuring the long-term use of the motor 400.

[0041] According to some embodiments of the present application, a groove is provided at the connection between the housing 100 and the motor 400, and the fourth sealing member 540 is provided in the groove. A fourth sealing member 540 is provided between the housing 100 and the motor 400. Specifically, a groove is provided on the inner side of the housing 100, and the fourth sealing member 540 is provided in the groove. The fourth sealing member 540 seals at the connection between the housing 100 and the motor 400, which can effectively prevent the gas and liquid entering the end surface of the housing 100 from penetrating into the housing 100, and can improve the sealing performance between the housing 100 and the motor 400.

[0042] According to some embodiments of the present application, a support ring 560 is provided on the end surface of the housing 100. The support ring 560 is provided on the end surface of the housing 100, and the support ring 560 seals and protects the housing 100 on the outside of the housing 100, and cooperates with various sealing components inside the housing 100 to form a multi-layer protection to improve the sealing performance.

[0043] According to some embodiments of the present application, a fifth sealing member 550 for fixing the support ring 560 is further provided on the outside of the housing 100. The support ring 560 is provided on the end surface of the housing 100, and a fifth sealing member 550 is provided on the outside of the support ring 560. The fifth sealing member 550 fixes the support ring 560 and can also cooperate with the support ring 560 to achieve double sealing, strengthen the sealing effect, and prevent external gas and liquid from entering the interior of the housing 100 through the end cover 300 of the housing 100. It can be understood that in some embodiments, the fifth sealing member 550 is configured as a silicone ring for sealing.

[0044] According to some embodiments of the present application, the end cap 300 is detachably mounted on the housing 100. The end cap 300 is disposed on one side of the housing 100, and the end cap 300 cooperates with the housing 100 to form a second chamber 720. The end cap 300 and the housing 100 are detachably mounted, which facilitates the installation, removal and maintenance of the electrical components in the housing 100. A third sealing member 530 is disposed between the end cap 300 and the housing 100, and the third sealing member 530 is sealed between the end cap 300 and the housing 100, which can improve the sealing performance between the end cap 300 and the housing 100 and protect the second chamber 720.

[0045] According to some embodiments of the present application, the motor 400 includes a housing and a harmonic reducer, the harmonic reducer is installed in the housing, and the harmonic reducer is provided with a double oil seal. The harmonic reducer provided with a double oil seal can prevent grease from leaking to the outside, and can also prevent impurities and oil mist from entering the inside of the harmonic reducer, thereby protecting the inside of the harmonic reducer and the inside of the motor 400, and improving the protection and sealing of the robot joint sealing module.

[0046] The following is a specific example to describe a humidity control method for a robot joint sealing module according to an embodiment of the present application, comprising the following steps:

[0047] Step S1: the first humidity sensor 610 monitors the humidity of the first chamber 710 to obtain a humidity value of the first chamber;

[0048] Step S2: the second humidity sensor 620 monitors the humidity of the second chamber 720 to obtain a humidity value of the second chamber;

[0049] Step S3: the third humidity sensor 630 monitors the humidity of the third chamber 730 to obtain a humidity value of the third chamber;

[0050] Step S4: Compare the humidity value of the first chamber, the humidity value of the second chamber, and the humidity value of the third chamber with the rated humidity value. It should be noted that the rated humidity value is a relative humidity value, which is expressed as a percentage of the actual water vapor pressure in the chamber to the saturated water vapor pressure at the current temperature, and is rounded to an integer. When the relative humidity is greater than or equal to 65%, a layer of water film with a thickness of 0.001-0.01um will adhere to the surface of the object, and it is judged that the humidity is too high at this time. When the relative humidity is greater than or equal to 80%, it is judged to be humid. When the relative humidity is greater than or equal to 95%, water droplets begin to condense, and it is judged that gas and liquid have entered the shell 100 at this time. When the relative humidity is greater than or equal to 100%, the thickness of the water film is 10um, and it is judged that a large amount of gas and liquid have entered the shell 100. In some embodiments, the rated humidity value is set to 80%.

[0051] Step S5: When the humidity value of the first chamber, the humidity value of the second chamber and the humidity value of the third chamber are all less than the rated humidity value, the robot joint sealing module operates normally. Specifically, when the humidity value of the first chamber, the humidity value of the second chamber and the humidity value of the third chamber are all less than the rated humidity value, it is judged that the humidity in the first chamber 710, the second chamber 720 and the third chamber 730 is within the normal range, the seal of the robot joint sealing module is not damaged, and the robot joint sealing module maintains a normal working state.

[0052] Step S6: When the humidity value of the first chamber is greater than or equal to the rated humidity value and / or the humidity value of the second chamber is greater than or equal to the rated humidity value and the humidity value of the third chamber is less than the rated humidity value, the robot joint sealing module continues to work and turns on the heating and heating module of the motor 400. It should be noted that when the sealing of the shell 100 is damaged, the external gas and liquid first enter the first chamber 710 and the second chamber 720. Therefore, the humidity values ​​of the first chamber 710 and the second chamber 720 usually reach the rated humidity value first. When the humidity value of at least one of the first chamber 710 and the second chamber 720 is greater than or equal to the rated humidity value and the humidity value of the third chamber is less than the rated humidity value, it is determined that the humidity of the first chamber 710 or the second chamber 720 is in a humid state, and the robot joint sealing module turns on the heating and heating module of the motor 400. The motor 400 is heated and heated, which can increase the temperature in the shell 100 and achieve heating and dehumidification.

[0053] Step S7: When the humidity value of the third chamber is greater than or equal to the rated humidity value, the robot joint sealing module stops working, adjusts its posture and leaves the working environment. When the humidity value of the third chamber is greater than or equal to the rated humidity value, it is determined that the robot joint sealing module has a risk of being damaged in sealing, and the robot joint sealing module needs to stop working to protect the components in the housing 100. At the same time, the robot joint sealing module adjusts its posture so that the gas and liquid will not damage important electrical components. The robot joint sealing module leaves the working environment, and can also prevent the gas and liquid inside the housing 100 from leaking out to pollute the working environment, thereby protecting the working environment.

[0054] According to some embodiments of the present application, an alarm module is also included, and the alarm module includes a display component for displaying the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value. The robot joint sealing module also includes an alarm module, and the alarm module includes a display component, and the display component can display the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value. In some embodiments, the alarm module also includes an audible and visual alarm. When one of the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value exceeds the humidity value greater than or equal to the rated humidity value, the audible and visual alarm issues an alarm reminder to facilitate subsequent adjustments to the robot joint sealing module.

[0055] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A humidity control method for a robot joint sealing module, characterized in that: The robot joint sealing module includes: A housing, wherein a motor is disposed in the housing, and the motor is provided with a heating and temperature-raising module; A flange, wherein the flange is arranged on one side of the housing, the flange cooperates with the motor to form a first chamber, a first humidity sensor is arranged in the first chamber, a first sealing member is arranged outside the flange, and a second sealing member is arranged between the flange and the motor; An end cap, wherein the end cap is arranged at one side of the shell, the end cap cooperates with the shell to form a second chamber, a third sealing member is arranged between the end cap and the shell, a second humidity sensor is arranged in the second chamber, and a hygroscopic material is arranged inside the end cap; Wherein, a third chamber is formed in the shell, and a third humidity sensor and a fourth sealing member arranged between the motor and the shell are arranged in the third chamber; The first humidity sensor monitors the humidity of the first chamber to obtain a humidity value of the first chamber; The second humidity sensor monitors the humidity of the second chamber to obtain a humidity value of the second chamber; The third humidity sensor monitors the humidity of the third chamber to obtain a humidity value of the third chamber; comparing the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value with a rated humidity value; When the humidity value of the first chamber, the humidity value of the second chamber and the humidity value of the third chamber are all less than the rated humidity value, the robot joint sealing module works normally; When the humidity value of the first chamber is greater than or equal to the rated humidity value and / or the humidity value of the second chamber is greater than or equal to the rated humidity value and the humidity value of the third chamber is less than the rated humidity value, the robot joint sealing module continues to work and turns on the heating and temperature raising module of the motor; When the humidity value of the third chamber is greater than or equal to the rated humidity value, the robot joint sealing module stops working, adjusts its posture and leaves the working environment.

2. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: A groove is arranged on the inner side of the flange, and the second sealing member is arranged in the groove.

3. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: A groove is provided at a connection between the housing and the motor, and the fourth sealing member is arranged in the groove.

4. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: The end surface of the shell is provided with a supporting guard ring.

5. The humidity control method of a robot joint sealing module according to claim 4, characterized in that: A fifth sealing member for fixing the support retainer is also disposed outside the housing.

6. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: The end cover is detachably mounted on the housing.

7. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: The motor comprises a housing and a harmonic reducer, wherein the harmonic reducer is installed in the housing and is provided with a double oil seal.

8. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: Also includes: An alarm module, wherein the alarm module comprises a display component for displaying the first chamber humidity value, the second chamber humidity value, and the third chamber humidity value.

9. The humidity control method of a robot joint sealing module according to claim 1, characterized in that: The rated humidity value is 80%.

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