A robot joint actuator convenient for heat dissipation

Abstract

The present invention discloses a robot joint actuator that is easy to dissipate heat, and relates to the technical field of joint actuators, including a control structure and a heat dissipation structure, wherein the heat dissipation structure is slidably mounted on the control structure, and the control structure includes a central spindle, a friction brake retainer is fixedly mounted on the central spindle, a frameless torque motor is fixedly mounted on the outer ring of the friction brake retainer, an output end encoder is also fixedly mounted on the central spindle, the output end encoder is arranged at the front end of the friction brake retainer, the outer side of the output end encoder contacts the frameless torque motor, a DC driver is also fixedly mounted on the central spindle, and the DC driver is arranged at the front end of the output end encoder. The present invention improves the heat dissipation capacity of the actuator and compresses the space occupied by the internal components of the actuator by setting a movable and split actuator spindle.

Description

Technical Field

[0001] The present invention relates to the technical field of joint actuators, and in particular to a robot joint actuator that is easy to dissipate heat. Background Art

[0002] As the performance and workload of robots continue to improve, the heat dissipation problem of joint actuators has gradually become a bottleneck that limits their efficient operation and reliability. When the actuator is under high load or working for a long time, internal components such as motors and electronic control modules will generate a large amount of heat. If the heat is not effectively dissipated, it may cause overheating, thereby affecting the accuracy and stability of the actuator, and even causing damage to the equipment. The present invention provides a structure using a separate spindle and housing, which not only improves the heat dissipation performance, but also provides better flexibility and maintainability for the joint actuator, reduces the degree of coupling between the heat dissipation module and the mechanical part, and thereby improves the overall working efficiency and life of the actuator. Summary of the invention

[0003] The present invention aims to provide a joint actuator with a movable and detachable actuator spindle, thereby improving the heat dissipation capacity of the actuator and compressing the space occupied by internal components of the actuator.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a robot joint actuator that is easy to dissipate heat, including a control structure and a heat dissipation structure, the heat dissipation structure is slidably installed on the control structure, the control structure includes a central spindle, a friction brake retainer is fixedly installed on the central spindle, a frameless torque motor is fixedly installed on the outer ring of the friction brake retainer, an output end encoder is also fixedly installed on the central spindle, the output end encoder is arranged at the front end of the friction brake retainer, the outer side of the output end encoder is in contact with the frameless torque motor, a DC driver is also fixedly installed on the central spindle, the DC driver is arranged at the front end of the output end encoder, a motor end encoder is fixedly installed on the central spindle, the motor end encoder is arranged at the front end of the DC driver, and the front end of the central spindle is fixedly installed An end plate is fixedly installed, and the end plate is arranged at the front end of the motor end encoder. The tail end of the central main shaft is connected to the central countershaft, and the central countershaft is slidably connected to the central main shaft. A torque sensor is fixedly installed on the central countershaft, and a harmonic reducer is fixedly installed on the central countershaft. An end cover is fixedly installed on the front end of the central main shaft, an inner shell is fixedly installed on the end cover, and an outer shell is fixedly installed on the outer side of the inner shell. Motors at both ends are installed on the inside of the central countershaft, and moving screws are fixedly installed on the front ends of the motors at both ends. A motor fixing sleeve is fixedly installed on the inside of the central countershaft, and a sliding rod is fixedly installed on the motor fixing sleeve. The motors at both ends are fixedly installed inside the motor fixing sleeve, and an internal thread fixing block is fixedly installed on the inside of the central main shaft. The internal thread fixing block is slidably connected to the sliding rod, and the moving screw and the internal thread fixing block form a threaded fit.

[0005] Furthermore, the tail end output end of the motor at both ends is fixedly installed with a tail end motor shaft, a slide wheel is fixedly installed on the tail end motor shaft, the tail end of the central secondary shaft is fixedly installed with a tail end slide plate, a movable slider is slidably installed on the tail end slide plate, a control slide rod is fixedly installed on the movable slider, the slide wheel is provided with slide grooves arranged symmetrically in the center, the slide grooves on the slide wheel cooperate with the control slide rod, the control slide rod slides in the slide grooves of the slide wheel, and the main heat dissipation shell is fixedly installed on the movable slider.

[0006] Furthermore, the movable slider is arranged with a torque sensor group in total, and a main heat dissipation shell or a secondary heat dissipation shell is fixedly installed on the movable slider. The outline of the main heat dissipation shell is slightly larger than the secondary heat dissipation shell, and the outside of the main heat dissipation shell slightly covers the secondary heat dissipation shell, so that the main heat dissipation shell and the secondary heat dissipation shell remain sealed when they are not unfolded.

[0007] Furthermore, the main heat dissipation housing and the auxiliary heat dissipation housing are arranged at intervals.

[0008] Further, the outer side of the frameless torque motor is fixed by the inner shell, and the frameless torque motor is arranged between the friction brake retainer and the inner shell.

[0009] Furthermore, a temperature sensor is fixedly mounted on the DC driver.

[0010] Furthermore, a force sensor is fixedly installed on the tail end slide plate.

[0011] Compared with the prior art, the present invention has the following advantages: (1) By providing a movable and detachable actuator spindle, the present invention improves the heat dissipation capacity of the actuator and reduces the space occupied by the internal components of the actuator; (2) The present invention provides a separate housing structure, which not only improves the heat dissipation performance, but also provides better flexibility and maintainability for the joint actuator, reduces the degree of coupling between the heat dissipation module and the mechanical part, and thus improves the overall working efficiency and life of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0013] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0014] Figure 3 It is a schematic diagram of the heat dissipation structure of the present invention.

[0015] Figure 4 It is a schematic diagram of the heat dissipation housing of the present invention.

[0016] Figure 5 It is the overall structural front view of the present invention.

[0017] Figure numbers: 1-center spindle; 2-friction brake retainer; 3-output end encoder; 4-DC drive; 5-motor end encoder; 6-end plate; 7-center secondary shaft; 8-torque sensor; 9-harmonic reducer; 10-outer shell; 11-inner shell; 12-end cover; 13-motor at both ends; 14-moving screw; 15-sliding rod; 16-internal thread fixing block; 17-motor fixing sleeve; 18-rear end motor shaft; 19-slide wheel; 20-rear end slide plate; 21-moving slider; 22-control slider; 23-main heat dissipation shell; 24-auxiliary heat dissipation shell. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0019] Example: Figure 1-Figure 5A robot joint actuator that is easy to dissipate heat is shown, including a control structure and a heat dissipation structure, the heat dissipation structure is slidably installed on the control structure, the control structure includes a central spindle 1, a friction brake retainer 2 is fixedly installed on the central spindle 1, a frameless torque motor is fixedly installed on the outer ring of the friction brake retainer 2, an output end encoder 3 is also fixedly installed on the central spindle 1, the output end encoder 3 is arranged at the front end of the friction brake retainer 2, the outer side of the output end encoder 3 is in contact with the frameless torque motor, a DC driver 4 is also fixedly installed on the central spindle 1, the DC driver 4 is arranged at the front end of the output end encoder 3, a motor end encoder 5 is fixedly installed on the central spindle 1, the motor end encoder 5 is arranged at the front end of the DC driver 4, an end plate 6 is fixedly installed on the front end of the central spindle 1, and the end plate 6 is arranged at the front end of the motor end encoder 5. The tail end of the central main shaft 1 is connected with the central secondary shaft 7, which is slidably connected with the central main shaft 1. The central secondary shaft 7 is fixedly installed with a torque sensor 8, and the central secondary shaft 7 is fixedly installed with a harmonic reducer 9. The front end of the central main shaft 1 is fixedly installed with an end cover 12, and the end cover 12 is fixedly installed with an inner shell 11, and the outer shell 10 is fixedly installed outside the inner shell 11. The inner side of the central secondary shaft 7 is installed with two motors 13 at both ends, and the front ends of the motors 13 at both ends are fixedly installed with moving screws 14. The inner side of the central secondary shaft 7 is fixedly installed with a motor fixing sleeve 17, and a sliding rod 15 is fixedly installed on the motor fixing sleeve 17. The motors 13 at both ends are fixedly installed inside the motor fixing sleeve 17. The inner side of the central main shaft 1 is fixedly installed with an internal thread fixing block 16, and the internal thread fixing block 16 is slidably connected with the sliding rod 15, and the moving screw 14 forms a threaded fit with the internal thread fixing block 16. By setting a dual encoder on the actuator, the space occupied by the internal components is compressed, and by setting a DC driver, the actuator is guaranteed to run smoothly. The motors 13 at both ends are started to drive the moving screw 14 to rotate. The rotation of the moving screw 14 drives the motors 13 at both ends to move away from the central main shaft 1. The sliding rod 15 slides in the internal thread fixing block 16. The central main shaft 1 and the central secondary shaft 7 are separated from each other, and the front and rear ends of the actuator are separated to facilitate heat dissipation.

[0020] The tail end output end of the motor 13 at both ends is fixedly mounted with a tail end motor shaft 18, a groove wheel 19 is fixedly mounted on the tail end motor shaft 18, a tail end groove plate 20 is fixedly mounted on the tail end groove plate 20, a moving slider 21 is slidably mounted on the moving slider 21, a control slide bar 22 is fixedly mounted on the moving slider 21, the groove wheel 19 is provided with a centrally symmetrically arranged groove, the groove on the groove wheel 19 cooperates with the control slide bar 22, the control slide bar 22 slides in the groove of the groove wheel 19, and a main heat dissipation housing 23 is fixedly mounted on the moving slider 21. The tail end drive of the motor 13 at both ends drives the tail end motor shaft 18 to rotate, the tail end motor shaft 18 drives the groove wheel 19 to rotate, the groove wheel 19 drives the control slide bar 22 and the moving slider 21 to slide outward, thereby driving the main heat dissipation housing 23 to move outward for heat dissipation.

[0021] The movable slider 21 is arranged with a total of 8 groups of torque sensors, and a main heat dissipation shell 23 or an auxiliary heat dissipation shell 24 is fixedly installed on the movable slider 21. The outline of the main heat dissipation shell 23 is slightly larger than the auxiliary heat dissipation shell 24, and the outside of the main heat dissipation shell 23 slightly covers the auxiliary heat dissipation shell 24, so that the main heat dissipation shell 23 and the auxiliary heat dissipation shell 24 remain sealed when they are not unfolded.

[0022] The main heat dissipation housing 23 and the auxiliary heat dissipation housing 24 are arranged at an interval.

[0023] The outer side of the frameless torque motor is fixed by the inner housing 11 , and the frameless torque motor is arranged between the friction brake holder 2 and the inner housing 11 .

[0024] A temperature sensor is fixedly mounted on the DC driver 4. The temperature sensor detects the temperature change inside the actuator, thereby facilitating the control of the internal ambient temperature of the actuator.

[0025] A force sensor is fixedly installed on the tail end slide plate 20. Through the force sensor, higher precision motion control and more complex operations can be achieved according to scene requirements.

Claims

1. A robot joint actuator that is easy to dissipate heat, comprising a control structure and a heat dissipation structure, wherein the heat dissipation structure is slidably mounted on the control structure, and characterized in that: The control structure comprises a central spindle (1), a friction brake retainer (2) is fixedly mounted on the central spindle (1), a frameless torque motor is fixedly mounted on the outer ring of the friction brake retainer (2), an output end encoder (3) is also fixedly mounted on the central spindle (1), the output end encoder (3) is arranged at the front end of the friction brake retainer (2), the outer side of the output end encoder (3) contacts the frameless torque motor, a DC driver (4) is also fixedly mounted on the central spindle (1), the DC driver (4) is arranged at the front end of the output end encoder (3), a motor end encoder (5) is fixedly mounted on the central spindle (1), the motor end encoder (5) is arranged at the front end of the DC driver (4), an end plate (6) is fixedly mounted on the front end of the central spindle (1), the end plate (6) is arranged at the front end of the motor end encoder (5), the tail end of the central spindle (1) is connected to a central sub-shaft (7), the central sub-shaft (7) and the central spindle (1) a sliding connection, wherein a torque sensor (8) is fixedly mounted on the central countershaft (7), a harmonic reducer (9) is fixedly mounted on the central countershaft (7), an end cover (12) is fixedly mounted on the front end of the central main shaft (1), an inner shell (11) is fixedly mounted on the end cover (12), an outer shell (10) is fixedly mounted on the outer side of the inner shell (11), two motors (13) are mounted on the inner side of the central countershaft (7), moving screws (14) are fixedly mounted on the front ends of the two motors (13), a motor fixing sleeve (17) is fixedly mounted on the inner side of the central countershaft (7), a sliding rod (15) is fixedly mounted on the motor fixing sleeve (17), the two motors (13) are fixedly mounted inside the motor fixing sleeve (17), an internal thread fixing block (16) is fixedly mounted on the inner side of the central main shaft (1), the internal thread fixing block (16) is slidingly connected to the sliding rod (15), and the moving screw (14) forms a threaded fit with the internal thread fixing block (16).

2. A robot joint actuator that is easy to dissipate heat according to claim 1, characterized in that: A tail end motor shaft (18) is fixedly mounted on the tail end output end of the two end motors (13), a groove wheel (19) is fixedly mounted on the tail end motor shaft (18), a tail end groove plate (20) is fixedly mounted on the tail end groove plate (20), a moving slider (21) is slidably mounted on the moving slider (21), a control slider (22) is fixedly mounted on the moving slider (21), the groove wheel (19) is provided with grooves arranged symmetrically in the center, the grooves on the groove wheel (19) cooperate with the control slider (22), the control slider (22) slides in the grooves of the groove wheel (19), and a main heat dissipation housing (23) is fixedly mounted on the moving slider (21).

3. A robot joint actuator that is easy to dissipate heat according to claim 2, characterized in that: The movable slider (21) is provided with a group of torque sensors (8) in total. A main heat dissipation housing (23) or a secondary heat dissipation housing (24) is fixedly mounted on the movable slider (21). The profile of the main heat dissipation housing (23) is slightly larger than that of the secondary heat dissipation housing (24). The exterior of the main heat dissipation housing (23) slightly covers the secondary heat dissipation housing (24), so that the main heat dissipation housing (23) and the secondary heat dissipation housing (24) remain sealed when not deployed.

4. The robot joint actuator for facilitating heat dissipation according to claim 3, characterized in that: The main heat dissipation housing (23) and the auxiliary heat dissipation housing (24) are arranged at intervals.

5. The robot joint actuator for facilitating heat dissipation according to claim 4, characterized in that: The outer side of the frameless torque motor is fixed by the inner shell (11), and the frameless torque motor is arranged between the friction brake retainer (2) and the inner shell (11).

6. The robot joint actuator for facilitating heat dissipation according to claim 5, characterized in that: A temperature sensor is fixedly mounted on the DC driver (4).

7. The robot joint actuator for facilitating heat dissipation according to claim 6, characterized in that: A force sensor is fixedly mounted on the tail end slide plate (20).

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