Heat dissipation mechanical joint for robot

Abstract

The invention relates to the technical field of robot heat dissipation joints, and particularly discloses a heat dissipation mechanical joint for a robot, which comprises a first mechanical arm and a second mechanical arm, the first mechanical arm is rotatably connected with the second mechanical arm, a lug is arranged at the rotational joint of the first mechanical arm and the second mechanical arm, and a shaft hole is formed in the lug along the axis of the lug; the lug is provided with a groove coaxial with the shaft hole, a blocking plate is arranged at an opening of the groove, the blocking plate and the groove define a first cavity for gas to pass through, the inner end face of the blocking plate is fixedly connected with the lug, and the outer end face of the blocking plate is fixedly connected with a motor. Compared with the prior art, according to the technical scheme, heat dissipation of the outer side of the motor is guaranteed, heat dissipation of the end of the motor and the rotating position of the joint is achieved, and the heat dissipation effect of the robot joint is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot heat dissipation joints, and in particular to a heat dissipation mechanical joint for a robot. Background Art

[0002] With the continuous development of industrial technology, automated production has gradually replaced traditional manual work. Among them, robots have become an automated production equipment with a wide range of applications and high practicality. The existing robots are mainly articulated robots. Some of the joints of the robots are driven by servo motors, and some use integrated joints with a higher degree of integration. However, due to the high cost of integrated joints, articulated robots driven by servo motors still occupy a large proportion in the market. When the joints driven by servo motors work at high frequencies, the motors themselves will generate a lot of heat. If the joints cannot dissipate heat in time, it will seriously affect the service life of the joints and the service life of the motor.

[0003] Existing robot joints usually have a heat dissipation function, and their heat dissipation methods mainly include air cooling and liquid cooling. The heat dissipation effect of air cooling is worse than that of liquid cooling, and it is easy for dust to enter and clog the radiator. However, the heat dissipation structure of air cooling is simpler than that of liquid cooling. Although liquid cooling has a better heat dissipation effect, the overall structure is more complex, the use environment is limited, and the scope of application is not as wide as air cooling. In addition, the heat dissipation of existing robot joints is all for motor heat dissipation, specifically for the side of the motor. However, under continuous operation, a certain amount of heat will also be generated at the end of the motor and the rotation of the joint, thereby affecting the overall heat dissipation effect of the robot joint. The current robot joints do not have the function of dissipating heat at the end of the motor and the rotation of the joint, and the heat dissipation effect of existing robot joints needs to be improved.

[0004] Therefore, it is necessary to propose a heat dissipating mechanical joint for a robot to improve the heat dissipation effect of the robot joint. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing robot joints have poor heat dissipation effect, and now provides a heat dissipation mechanical joint for a robot.

[0006] The technical solution of the present invention is: A heat dissipation mechanical joint for a robot comprises a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are rotatably connected, an ear seat is provided at the rotation connection of the first mechanical arm and the second mechanical arm, an axial hole is provided along the axis of the ear seat, a groove coaxial with the axial hole is provided at the ear seat, a blocking plate is provided at the opening of the groove, the blocking plate and the groove form a first cavity for gas to pass through, the inner end surface of the blocking plate is fixedly connected to the ear seat, the outer end surface of the blocking plate is fixedly connected to a motor, the output shaft of the motor passes through the blocking plate into the axial hole and drives the rotation connection of the first mechanical arm and the second mechanical arm to rotate; A heat sink is sleeved on the outside of the motor, a protective shell is sleeved on the outside of the heat sink, the protective shell and the heat sink form a heat sink with closed ends, a second cavity is provided in the heat sink, a partition is provided in the second cavity and is distributed in a spiral shape along the axis of the heat sink, the partition is fixedly connected to the heat sink, the partition divides the second cavity into a spiral heat sink channel, a liquid inlet is provided at one end of the heat sink channel, and a liquid outlet is provided at the other end of the heat sink channel; An air inlet duct and an air return duct are provided inside the heat sink. The air inlet of the air inlet duct and the air outlet of the air return duct are located at the outer end of the heat sink, and the air outlet of the air inlet duct and the air inlet of the return duct are located at the inner end of the heat sink. The sealing plate is provided with an air inlet and an air outlet. The air outlet of the air inlet duct is connected to the air inlet of the sealing plate, and the air outlet of the sealing plate is connected to the air inlet of the return duct. The air inlet of the air inlet duct is connected to a blower.

[0007] Furthermore, the air inlet duct and the air return duct are distributed in a spiral shape along the axis of the heat sink.

[0008] Furthermore, the liquid inlet and the liquid outlet of the heat dissipation channel are located at the outer end of the heat dissipation tube.

[0009] Furthermore, sealing gaskets are installed at the air inlet and the air outlet of the blocking plate.

[0010] Furthermore, the ear seat is welded to the first robotic arm.

[0011] Furthermore, the inner end of the heat dissipation tube is fixedly connected to the ear seat screw.

[0012] Furthermore, the heat sink, the protective shell and the partition are all made of heat-conducting and insulating materials.

[0013] A heat dissipation mechanical joint for a robot of the present invention, on the one hand, the coolant enters the heat dissipation channel through the liquid inlet and fills up the second cavity, and the heat dissipation of the motor side wall is achieved by liquid cooling. The spiral heat dissipation channel can greatly prolong the time that the coolant stays in the second cavity to ensure the cooling time. The heat dissipation seat is arranged on the outside of the motor, and the heat dissipation seat is provided with a partition. When the heat of the motor is transferred to the heat dissipation seat, the partition can increase the heat dissipation area for the heat dissipation seat. When the coolant fills up the second cavity, the coolant is in the heat dissipation channel and contacts with the partition and the heat dissipation seat, thereby improving the heat dissipation effect of the motor. On the other hand, the air intake duct and the air return duct at the bottom of the heat dissipation seat can be With the cooperation of the blower, a closed air cooling circuit is formed. When the cold air passes through the sealing plate through the air intake duct, the cold air and the groove of the ear seat cool down the ear seat, and the heat taken away is discharged from the joint along the air outlet of the return air duct, thereby realizing the heat dissipation of the motor end and the heat dissipation of the joint part of the rotating connection between the first robot arm and the second robot arm. In addition, when the cold air passes through the heat sink, it will also assist the coolant in the heat dissipation channel to perform double heat dissipation on the outside of the motor, further ensuring the heat dissipation effect. Compared with traditional technology, this technical solution not only ensures the heat dissipation of the outside of the motor, but also realizes the heat dissipation of the motor end and the joint rotation, thereby improving the heat dissipation effect of the robot joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the front view of the present invention; Figure 2 For the present invention Figure 1 Sectional view at AA; Figure 3 For the present invention Figure 2 A partial enlarged view of point B in the middle.

[0015] Figure numerals: 1. first mechanical arm; 2. second mechanical arm; 3. ear seat; 4. axial hole; 5. groove; 6. sealing plate; 7. first cavity; 8. motor; 9. heat sink; 10. protective shell; 11. second cavity; 12. partition; 13. heat dissipation channel; 14. liquid inlet; 15. liquid outlet; 16. air inlet duct; 17. air return duct; 18. first ear seat; 19. second ear seat. DETAILED DESCRIPTION

[0016] In order to make the technical means, technical features, invention objectives and technical effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific illustrations.

[0017] Embodiment 1: like Figure 1 and Figure 2As shown, the present embodiment provides a heat dissipation mechanical joint for a robot, comprising a first mechanical arm 1 and a second mechanical arm 2, the first mechanical arm 1 and the second mechanical arm 2 are rotatably connected, an ear seat 3 is provided at the rotation connection of the first mechanical arm 1 and the second mechanical arm 2, the ear seat 3 is provided with an axial hole 4 along its axis, the ear seat 3 is provided with a groove 5 coaxial with the axial hole 4, a blocking plate 6 is provided at the opening of the groove 5, the blocking plate 6 and the groove 5 form a first cavity 7 for gas to pass through, the inner end surface of the blocking plate 6 is fixedly connected to the ear seat 3 with screws, the outer end surface of the blocking plate 6 is fixedly connected with a motor 8 with screws, the output shaft of the motor 8 passes through the blocking plate 6 into the axial hole 4 and drives the rotation connection of the first mechanical arm 1 and the second mechanical arm 2 to rotate, specifically, the ear seat 3 comprises a first ear seat 18 and a second Ear seat 19, the first ear seat 18 is welded to the first support arm 1, the second ear seat 19 is welded to the second support arm 2, the first ear seat 18 and the second ear seat 19 are coaxially provided with an axial hole 4, the output shaft of the motor 8 passes through the axial hole 4, wherein a bearing is provided in the axial hole 4 of the first ear seat 18, and a keyway is provided in the axial hole 4 of the second ear seat 19, the output shaft of the motor 8 is fixedly connected to the second ear seat 19 through a key, and the output shaft of the motor 8 is rotatably connected to the first ear seat 18 through a bearing. As an optional method, the motor 8 can be used in conjunction with a reducer. Since the use of a motor in conjunction with a reducer and a key is a more common technology in the current motor driving method, those skilled in the art can determine the installation method and motor model according to the specific situation, which will not be repeated here in this article.

[0018] like Figure 3 As shown, a heat sink 9 is sleeved on the outside of the motor 8, the heat sink 9 is in contact with the side wall of the motor 8, the heat sink 9 is coaxial with the motor 8, a protective shell 10 is sleeved on the outside of the heat sink 9, the protective shell 10 and the heat sink 9 form a heat sink with closed ends, a second cavity 11 is arranged in the heat sink, a partition 12 spirally distributed along the axis of the heat sink is arranged in the second cavity 11, the partition 12 is welded to the heat sink 9, the partition 12 divides the second cavity 11 into a spiral heat dissipation channel 13, a liquid inlet 14 is arranged at one end of the heat dissipation channel 13, and a liquid outlet 15 is arranged at the other end of the heat dissipation channel 13.

[0019] An air inlet duct 16 and an air return duct 17 are provided inside the heat sink 9. The air inlet of the air inlet duct 16 and the air outlet of the return air duct 17 are located at the outer end of the heat sink 9, and the air outlet of the air inlet duct 16 and the air inlet of the return air duct 17 are located at the inner end of the heat sink 9. The sealing plate 6 is provided with an air inlet and an air outlet. The air outlet of the air inlet duct 16 is connected to the air inlet of the sealing plate 6, and the air outlet of the sealing plate 6 is connected to the air inlet of the return air duct 17. Preferably, a sealing gasket is provided between the sealing plate and the heat sink for sealing the connection between the air outlet of the air inlet duct 16 and the sealing plate 6, as well as the connection between the air outlet of the sealing plate 6 and the air inlet of the return air duct 17. The air inlet of the air inlet duct 16 is connected to a blower. The cold air introduced by the blower can be low-temperature condensed gas after cooling, or it can be external normal temperature gas. In order to ensure the cleanliness of the introduced gas, the blower can be connected to a filter to filter and purify the external air.

[0020] Preferably, the air intake duct 16 and the air return duct 17 are distributed in a spiral shape along the axis of the heat sink 9, which increases the residence time of the cold air in the heat sink 9 and improves the cooling effect. Moreover, since a coolant is provided in the heat sink duct to dissipate the heat from the side walls of the motor 8, even after the cold air passes through the heat sink 9, the temperature of the cold air is still lower than the temperature in the first cavity 7. Therefore, the air intake duct 16 passes cold air into the first cavity 7, which can play a role in heat dissipation. The heat sink 9 is fixedly connected to the protective shell 10 by screws.

[0021] Preferably, the liquid inlet 14 and the liquid outlet 15 of the heat dissipation channel 13 are located at the outer end of the heat dissipation tube.

[0022] Preferably, sealing gaskets are installed at the air inlet and the air outlet of the sealing plate 6, and the sealing gaskets can play a sealing role to prevent the cold air from leaking when passing through the sealing plate 6, thereby ensuring the heat dissipation effect.

[0023] Preferably, the ear seat 3 is welded to the first robotic arm 1 .

[0024] Preferably, the inner end of the heat dissipation tube is fixedly connected to the ear seat 3 by screws.

[0025] Preferably, the heat sink 9, the protective shell 10 and the partition 12 are all made of heat-conducting and insulating materials.

[0026] During operation, on the one hand, the coolant enters the heat dissipation channel 13 through the liquid inlet 14 and fills the second cavity 11, and the heat dissipation of the side wall of the motor 8 is achieved by liquid cooling. The spiral heat dissipation channel 13 can greatly prolong the time that the coolant stays in the second cavity 11 to ensure the cooling time. The heat dissipation seat 9 is sleeved on the outside of the motor 8, and the heat dissipation seat 9 is provided with a partition 12. When the heat of the motor 8 is transferred to the heat dissipation seat 9, the partition 12 can increase the heat dissipation area for the heat dissipation seat 9. When the coolant fills the second cavity 11, the coolant is in the heat dissipation channel 13, in contact with the partition 12 and the heat dissipation seat 9, thereby improving the heat dissipation effect of the motor 8; on the other hand, the air intake duct 16 and the air return duct 17 at the bottom of the heat dissipation seat 9 can It is able to form a closed air cooling loop with the cooperation of the blower. When the cold air passes through the air inlet duct 16 and the blocking plate 6, the cold air and the groove 5 of the ear seat 3 cool the ear seat 3, and the heat taken away is discharged from the joint along the air outlet of the return air duct 17, thereby realizing the heat dissipation of the end of the motor 8 and the heat dissipation of the joint part of the rotation connection between the first robot arm 1 and the second robot arm 2. In addition, when the cold air passes through the heat sink 9, it will also assist the coolant in the heat dissipation channel 13 to perform double heat dissipation on the outside of the motor 8, further ensuring the heat dissipation effect. Compared with the traditional technology, the technical solution not only ensures the heat dissipation of the outside of the motor 8, but also realizes the heat dissipation of the end of the motor 8 and the rotation of the joint, thereby improving the heat dissipation effect of the robot joint.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made according to the content of the patent application scope of the present invention should belong to the technical scope of the present invention.

Claims

1. A heat dissipation mechanical joint for a robot, comprising a first mechanical arm (1) and a second mechanical arm (2), wherein the first mechanical arm (1) and the second mechanical arm (2) are rotatably connected, and characterized in that: An ear seat (3) is provided at the rotation connection between the first mechanical arm (1) and the second mechanical arm (2); the ear seat (3) is provided with an axial hole (4) along its axis; the ear seat (3) is provided with a groove (5) coaxial with the axial hole (4); a blocking plate (6) is provided at the opening of the groove (5); the blocking plate (6) and the groove (5) enclose a first cavity (7) for gas to pass through; the inner end surface of the blocking plate (6) is fixedly connected to the ear seat (3); the outer end surface of the blocking plate (6) is fixedly connected to a motor (8); the output shaft of the motor (8) passes through the blocking plate (6) and enters the axial hole (4) to drive the rotation connection between the first mechanical arm (1) and the second mechanical arm (2) to rotate; A heat sink (9) is sleeved on the outside of the motor (8), a protective shell (10) is sleeved on the outside of the heat sink (9), the protective shell (10) and the heat sink (9) form a heat sink with closed ends, a second cavity (11) is provided in the heat sink, a partition (12) is provided in the second cavity (11) and is distributed in a spiral shape along the axis of the heat sink, the partition (12) is fixedly connected to the heat sink (9), the partition (12) divides the second cavity (11) into a spiral heat sink channel (13), one end of the heat sink channel (13) is provided with a liquid inlet (14), and the other end of the heat sink channel (13) is provided with a liquid outlet (15); An air inlet duct (16) and an air return duct (17) are provided inside the heat sink (9); an air inlet of the air inlet duct (16) and an air outlet of the air return duct (17) are located at the outer end of the heat sink (9); an air outlet of the air inlet duct (16) and an air inlet of the air return duct (17) are located at the inner end of the heat sink (9); a sealing plate (6) is provided with an air inlet and an air outlet; an air outlet of the air inlet duct (16) is connected to an air inlet of the sealing plate (6); an air outlet of the sealing plate (6) is connected to an air inlet of the air return duct (17); and an air inlet of the air inlet duct (16) is connected to a blower.

2. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: The air inlet duct (16) and the air return duct (17) are distributed in a spiral shape along the axis of the heat sink (9).

3. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: The liquid inlet (14) and the liquid outlet (15) of the heat dissipation channel (13) are located at the outer end of the heat dissipation tube.

4. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: Sealing pads are installed at the air inlet and the air outlet of the blocking plate (6).

5. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: The ear seat (3) is welded to the first mechanical arm (1).

6. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: The inner end of the heat dissipation tube is fixedly connected to the ear seat (3) by screws.

7. The heat dissipating mechanical joint for a robot according to claim 1, characterized in that: The heat sink (9), the protective shell (10) and the partition (12) are all made of heat-conducting and insulating materials.

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