Quadruped robot joint heat dissipation structure based on modular design

Abstract

The invention provides a quadruped robot joint heat dissipation structure based on modular design, and relates to the technical field of robots. Comprising a first motor module, a second motor module connected with the output end of the first motor module, a third motor module connected with the output end of the second motor module and a mechanical leg connected with the output end of the third motor module. The heat dissipation base is sleeved outside the first motor module, and the first motor module is connected with the quadruped robot body; a heat dissipation cover plate is arranged on the outer wall of the second motor module; the third motor module is connected with the second motor module through a heat dissipation connecting piece; through the arrangement of the heat dissipation surrounding pieces, the heat dissipation openings, the heat dissipation connecting pieces, the semi-open type heat dissipation base and the heat dissipation cover plate, the heat retention rate between the first motor module, the second motor module and the third motor module and the first connecting piece and the second connecting piece can be effectively reduced, and the heat dissipation capacity is improved; and the working efficiency of the quadruped robot is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a quadruped robot joint heat dissipation structure based on modular design. Background Art

[0002] With the continuous development of science and technology, robots are increasingly used in various fields. Quadruped robots have attracted widespread attention due to their excellent adaptability and flexibility in complex terrains.

[0003] A joint module for a quadruped robot and a quadruped robot using the joint module with application number "CN202320137510.8" include a motor housing, the motor housing is provided with a reducer unit and a motor unit, one side of the motor housing is provided with a motor connecting plate that seals and integrates the reducer unit and the motor unit inside the motor housing, and the motor connecting plate is connected to a motor drive board.

[0004] However, due to the closed housing of the motor and poor heat dissipation, high temperatures will be generated under long-term endurance and high load conditions, causing damage to the internal motor and circuit board components, affecting the working efficiency of the quadruped robot. Summary of the invention

[0005] The purpose of the present invention is to provide a quadruped robot joint heat dissipation structure based on modular design to solve the technical problems existing in the prior art.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0007] A quadruped robot joint heat dissipation structure based on modular design includes: a first motor module, a second motor module connected to the output end of the first motor module, a third motor module connected to the output end of the second motor module, and a mechanical leg connected to the output end of the third motor module; the first motor module is outer-mounted with a heat dissipation base and connected to the quadruped robot body; the outer wall of the second motor module is provided with a heat dissipation cover plate; the third motor module is connected to the second motor module through a heat dissipation connector.

[0008] Furthermore, the second motor module is connected to the first motor module and the third motor module via a first connecting member; and a heat dissipation port is provided on a working surface of the first connecting member.

[0009] Furthermore, a second connecting member is provided at the bottom of the third motor module, and heat dissipation connecting members are provided at equal intervals on the outer wall of the second connecting member along its circumferential direction; and a heat dissipation fin is provided on the outer wall of the third motor module.

[0010] Furthermore, the third motor module comprises: an inner shell and a transmission shaft, the bottom of the inner shell is connected to the second connecting member via a connecting ring; a plurality of stators are equidistantly arranged on the inner wall of the inner shell; a transmission gear is arranged outside the transmission shaft, the transmission gear is arranged outside the rotor, and a ball bearing is arranged on one side of the transmission gear.

[0011] Furthermore, a rotating disk is provided at the output end of the first motor module, and the rotating disk is fixedly connected to the bottom of the second motor module; in a use state, the second motor module is driven to rotate by the first motor module.

[0012] Furthermore, the heat dissipation base has a semi-open structure.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The present invention can effectively reduce the heat retention rate between the first motor module, the second motor module and the third motor module and the first connecting member and the second connecting member through the arrangement of the heat dissipation fins, the heat dissipation ports, the heat dissipation connecting members, the semi-open heat dissipation base and the heat dissipation cover plate, thereby improving the heat dissipation capacity and ensuring the working efficiency of the quadruped robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention;

[0016] Figure 2 is a side view of the present invention;

[0017] Figure 3 This is a schematic diagram of the internal structure of the present invention from a first viewing angle;

[0018] Figure 4 It is a schematic diagram of the internal structure of the present invention from a second viewing angle;

[0019] Figure 5 is a schematic diagram of the internal structure of the third motor module of the present invention;

[0020] Figure 6 is a schematic diagram of the internal structure of the second motor module of the present invention;

[0021] Figure 7 It is a partial schematic diagram of the first motor module of the present invention;

[0022] Figure 8 is a partial schematic diagram of a second motor module of the present invention;

[0023] Fig. 9 It is a partial schematic diagram of the first motor module of the present invention;

[0024] Fig.10 It is a schematic diagram of the use state of the present invention;

[0025] In the figure: 1. first motor module; 2. second motor module; 3. third motor module; 4. heat sink; 5. heat dissipation port; 6. heat dissipation connector; 7. heat dissipation base; 8. first connector; 9. second connector; 10. heat dissipation cover; 11. inner housing; 12. rotor; 13. stator; 14. transmission gear; 15. ball bearing; 16. rotating disk; 17. mechanical leg. DETAILED DESCRIPTION

[0026] In order to make the content of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. The same parts are represented by the same figure marks. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0027] like Figure 1-10 As shown, in this embodiment, a quadruped robot joint heat dissipation structure based on modular design is provided, including: a first motor module 1, a second motor module 2 connected to the output end of the first motor module 1, a third motor module 3 connected to the output end of the second motor module 2, and a mechanical leg 17 connected to the output end of the third motor module 3; the first motor module 1 is outer-mounted with a heat dissipation base 7, the heat dissipation base 7 is a semi-open structure, and is connected to the body of the quadruped robot, the heat dissipation base 7 of the semi-open structure can make air better enter and flow out of the interior, forming a good natural convection, improving the heat dissipation efficiency, and compared with the traditional fully enclosed structure, the semi-enclosed structure has the technical characteristics of light weight and less material, which contributes to the overall lightweight design of the device; the heat dissipation base 7 is in the quadruped machine During the movement of the robot, it can quickly discharge the heat generated by the connection between the first motor module 1 and the body and the operation of the second motor module 2 to prevent the temperature from being too high and affecting the performance and reducing the service life; on the other hand, too high temperature will increase the internal resistance of the first motor module 1, resulting in increased energy loss. By setting the heat dissipation base 7, the internal resistance can be reduced, the resource utilization rate can be improved, and the battery life can be extended; the outer wall of the second motor module 2 is provided with a heat dissipation cover plate 10, and the heat dissipation cover plate 10 can expand the surface area in contact with the air and guide the heat to flow in a preset direction to avoid heat accumulation inside the joint, thereby improving the heat dissipation efficiency; the third motor module 3 is connected to the second motor module 2 through a heat dissipation connector 6. When the second motor module 2 drives the third motor module 3 to rotate, the heat is discharged from the device through the heat dissipation connector 6.

[0028] The second motor module 2 is connected to the first motor module 1 and the third motor module 3 through the first connecting member 8; a heat dissipation port 5 is provided on the working surface of the first connecting member 8; the heat dissipation port 5 can enhance the heat dissipation effect, so that the heat generated at the connection parts of the second motor module 2, the first motor module 1 and the third motor module 3 can be quickly dissipated through the heat dissipation port 5, thereby reducing the performance difference and potential failure risks caused by local excessive temperature, and achieving temperature balance; on the other hand, the heat dissipation port 5 can change the stress distribution of the first connecting member 8 under preset conditions, thereby improving the structural stability and seismic resistance during movement.

[0029] A second connecting member 9 is provided at the bottom of the third motor module 3, and heat dissipation connecting members 6 are provided on the outer wall of the second connecting member 9 at equal intervals along its circumferential direction; a heat dissipation fin 4 is provided on the outer wall of the third motor module 3, and the heat dissipation fin 4 increases the surface area in contact with the air, which helps to dissipate heat faster.

[0030] The third motor module 3 comprises: an inner shell 11 and a transmission shaft, the bottom of the inner shell 11 is connected to the second connecting member 9 through a connecting ring; a plurality of stators 13 are equidistantly arranged on the inner wall of the inner shell 11; a transmission gear 14 is arranged on the outer sleeve of the transmission shaft, a rotor 12 is arranged on the outer sleeve of the transmission gear 14, and a ball bearing 15 is arranged on one side of the transmission gear 14; a rotating disk 16 is arranged on the output end of the first motor module 1, and the rotating disk 16 is fixedly connected to the bottom of the second motor module 2; in the use state, the second motor module 2 is driven to rotate by the first motor module 1, and the first motor module 1, the second motor module 2 and the third motor module 3 are all electrically connected to the external control device; when working, the first motor module 1 is connected to the body of the quadruped robot, and then the second motor module 2 is connected to the output end of the first motor module 1, and the third motor module 3 is connected to the output end of the second motor module 2; the mechanical leg 17 is rotatably connected to the output end of the third motor module 3, at this time, the operator checks the connection status of each component by controlling the remote control device, so as to ensure that the mechanical leg 17 can work normally through the instruction.

[0031] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A quadruped robot joint heat dissipation structure based on modular design, characterized in that: include: A first motor module (1), a second motor module (2) connected to the output end of the first motor module (1), a third motor module (3) connected to the output end of the second motor module (2), and a mechanical leg (17) connected to the output end of the third motor module (3); the first motor module (1) is outer-mounted with a heat dissipation base (7) and is connected to the body of a quadruped robot; the outer wall of the second motor module (2) is provided with a heat dissipation cover plate (10); and the third motor module (3) is connected to the second motor module (2) via a heat dissipation connector (6).

2. The quadruped robot joint heat dissipation structure based on modular design according to claim 1, characterized in that: The second motor module (2) is connected to the first motor module (1) and the third motor module (3) via a first connecting member (8); a heat dissipation port (5) is provided on a working surface of the first connecting member (8).

3. The quadruped robot joint heat dissipation structure based on modular design according to claim 3 is characterized in that: A second connecting member (9) is provided at the bottom of the third motor module (3), and heat dissipation connecting members (6) are provided on the outer wall of the second connecting member (9) at equal intervals along its circumferential direction; and a heat dissipation fin (4) is provided on the outer wall of the third motor module (3).

4. The quadruped robot joint heat dissipation structure based on modular design according to claim 3 is characterized in that: The third motor module (3) comprises: an inner housing (11) and a transmission shaft, wherein the bottom of the inner housing (11) is connected to the second connecting member (9) via a connecting ring; a plurality of stators (13) are equidistantly arranged on the inner wall of the inner housing (11); a transmission gear (14) is arranged outside the transmission shaft, the transmission gear (14) is arranged outside the rotor (12), and a ball bearing (15) is arranged on one side of the transmission gear (14).

5. The quadruped robot joint heat dissipation structure based on modular design according to claim 1, characterized in that: The output end of the first motor module (1) is provided with a rotating disk (16), and the rotating disk (16) is fixedly connected to the bottom of the second motor module (2); in a use state, the first motor module (1) drives the second motor module (2) to rotate.

6. The quadruped robot joint heat dissipation structure based on modular design according to claim 1, characterized in that: The heat dissipation base (7) is a semi-open structure.

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