Heat dissipation assembly, heat dissipation system and industrial robot

Abstract

The application relates to a heat dissipation assembly, a heat dissipation system and an industrial robot, relates to the technical field of robot structures, and is used for solving the problem that the current upper computer control of a motor is deviated due to overheating of internal motor components of a servo motor encoder. The heat dissipation assembly comprises a heat dissipation cage for sleeving a motor shell of the motor, and a cold head fixedly connected to the outer side of the heat dissipation cage, and a cooling chamber is arranged in the cold head; wherein the heat dissipation cage is used for at least partially contacting the motor shell, the heat dissipation cage can conduct heat on the motor shell to the cooling chamber, and heat exchange is carried out between the cooling chamber and cooling liquid contained in the cooling chamber, so that the motor is cooled by heat dissipation. In the application, the heat dissipation cage is used as a heat conduction piece, heat on the motor shell is conducted to the cold head through the contact between the heat dissipation cage and the motor shell, and the cooling liquid in the cooling chamber can timely absorb the heat conducted to the cold head. Therefore, liquid cooling heat dissipation of the motor is realized. In this way, the motor can work at normal temperature.

Description

Technical Field

[0001] This invention relates to the field of robot structure technology, and in particular to a heat dissipation component, a heat dissipation system, and an industrial robot. Background Technology

[0002] Industrial robots typically have multiple movable joints within their main body to ensure they can perform various movements. Each movable joint is equipped with a servo motor and a reducer. The servo motors and reducers work together to achieve motion control of the industrial robot body. Servo motor encoders are usually mounted on the servo motors. When the servo motors within the industrial robot body operate in a high-temperature environment for extended periods, the motor characteristics of the internal motor components of the servo motor encoder can change. This can lead to a certain degree of deviation in the control of the motor by the host computer, affecting the control accuracy of the motor and thus the motion accuracy of the industrial robot body.

[0003] In other words, existing technologies have a problem where overheating of the internal motor components of the servo motor encoder causes deviations in the control of the motor by the host computer. Summary of the Invention

[0004] This invention provides a heat dissipation component, a heat dissipation system, and an industrial robot to solve the problem of deviation in the control of the motor by the host computer caused by overheating of the motor components inside the servo motor encoder.

[0005] This invention provides a heat dissipation component, comprising:

[0006] A heat dissipation cage, used to be fitted onto the motor housing of the motor; and

[0007] The cold head is fixedly connected to the outside of the heat sink, and a cooling chamber is installed inside the cold head;

[0008] The heat dissipation cage is used to at least partially contact the motor housing. The heat dissipation cage can conduct heat from the motor housing to the cooling chamber and exchange heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor.

[0009] In one embodiment, the heat dissipation cage includes:

[0010] A heat dissipation frame, which is fitted onto the motor housing; and

[0011] The base is connected to the heat dissipation frame, and the cold head is located on the side of the base away from the motor housing;

[0012] The heat dissipation frame can press the motor housing onto the base and conduct the heat from the motor housing to the base. The base can then conduct the heat from the motor housing to the cooling chamber of the cold head and exchange heat with the coolant.

[0013] In one embodiment, the heat dissipation frame includes:

[0014] A heat-conducting ring is disposed on the first end face of the motor housing;

[0015] At least one heat-conducting strip, one end of which is connected to a heat-conducting ring, and the other end of which is connected to a base;

[0016] The motor shaft extends from the first end face and the heat-conducting ring. The heat-conducting ring and / or at least one heat-conducting strip are in contact with the motor housing. The heat-conducting ring can conduct a portion of the heat from the first end face to at least one heat-conducting strip, and the at least one heat-conducting strip can conduct the heat on it to the base.

[0017] In one embodiment, an annular groove is provided on the first end face, and a heat-conducting ring is disposed in the annular groove and adapted to the heat-conducting ring.

[0018] In one embodiment, the heat-conducting strip includes:

[0019] A first heat-conducting part, one end of which is connected to a heat-conducting ring; and

[0020] The second heat-conducting part has one end connected to the other end of the first heat-conducting part, and the other end of the second heat-conducting part is connected to the base.

[0021] The first heat-conducting part and the second heat-conducting part are connected at an angle of 90°+5°. The heat on the heat-conducting ring and another part of the first end face can be conducted to the first heat-conducting part, and the heat on the first heat-conducting part is conducted to the base through the second heat-conducting part.

[0022] In one embodiment, a strip groove is provided on the first end face, and a first heat-conducting part is disposed in the strip groove and adapted to the strip groove.

[0023] In one embodiment, the second heat-conducting part is in contact with the outer peripheral wall of the motor housing, and the second heat-conducting part can conduct heat from the outer peripheral wall to the base.

[0024] In one embodiment, the heat dissipation frame includes:

[0025] A heat dissipation ring is disposed on the first end face; and

[0026] A heat-conducting ring is mounted on a heat-dissipating ring.

[0027] At least one heat-conducting strip, one end of which is connected to a heat-conducting ring, and the other end of which is connected to a base;

[0028] The motor shaft passes through the first end face and the heat-conducting ring. The heat-conducting ring contacts the motor housing. The heat-conducting ring can conduct heat from the first end face to the heat-conducting ring. The heat-conducting ring can conduct heat from its surface to at least one heat-conducting strip. The heat-conducting strip can conduct heat from its surface to the base.

[0029] In one embodiment, an annular groove is provided on the first end face, and a heat dissipation ring is disposed in the annular groove and adapted to the annular groove.

[0030] In one embodiment, a first buckle is provided on the outer periphery of the heat dissipation ring, and a second buckle is provided on the groove wall of the annular groove. When the heat dissipation ring is placed in the annular groove, the first buckle radially presses the second buckle, the second buckle undergoes elastic deformation, and the first buckle and the heat dissipation ring are pressed and fixed in the annular groove.

[0031] The present invention also provides a heat dissipation system, comprising:

[0032] Heat dissipation piping; and

[0033] The aforementioned heat dissipation component is installed on the heat dissipation pipes, and the cooling chamber of the heat dissipation component is connected to the heat dissipation pipes; and

[0034] A water pump is installed on the heat dissipation pipes;

[0035] The water pump can pump the coolant in the cooling chamber into the heat dissipation pipes for heat dissipation, and then pump the cooled coolant back into the cooling chamber.

[0036] In one embodiment, the heat dissipation piping includes:

[0037] A ring-shaped heat dissipation pipe, on which heat dissipation components and a water pump are installed; and

[0038] The heat dissipation unit is located on the annular heat dissipation pipe;

[0039] The water pump can pump the coolant in the cooling chamber into the heat dissipation section for heat dissipation, and then pump the coolant after it has been cooled by the heat dissipation section back into the heat dissipation component.

[0040] In one embodiment, the heat dissipation unit includes:

[0041] A coolant storage chamber, located on an annular heat dissipation pipe, is used to store coolant; and

[0042] A radiator fan, which is rotatably mounted on the coolant storage chamber;

[0043] The radiator fan can exchange heat between the air in the coolant storage chamber and the outside environment to lower the coolant temperature.

[0044] The present invention also provides an industrial robot, comprising:

[0045] Industrial robot body; and

[0046] The aforementioned heat dissipation system is installed on the main body of the industrial robot;

[0047] The industrial robot has a motor inside its main body, and a cooling system dissipates heat from the motor.

[0048] In one implementation, the industrial robot body includes:

[0049] The base, which is fixed to the external foundation;

[0050] A robotic arm, whose movable parts are mounted on a base;

[0051] The robotic arm is equipped with movable joints, and the motor and heat dissipation components are located on the movable joints.

[0052] Compared with existing technologies, the advantages of this invention are that the heat dissipation cage, acting as a heat-conducting component, can conduct heat from the motor housing to the cold head through contact with the motor housing. This allows the coolant in the cooling chamber within the cold head to promptly absorb the heat transferred to it, thus achieving liquid cooling of the motor. This ensures the motor can operate at room temperature. It avoids the problem of changes in the motor characteristics of internal motor components caused by prolonged operation at high temperatures, which could lead to deviations in the current host computer's control of the motor, thereby ensuring the motor's control accuracy. Attached Figure Description

[0053] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0054] Figure 1 This is a schematic diagram of the structure of the heat dissipation component in Embodiment 1 of the present invention;

[0055] Figure 2 yes Figure 1 Side view of the heat dissipation assembly (cold block not shown);

[0056] Figure 3 yes Figure 1 A three-dimensional structural diagram of the heat dissipation frame;

[0057] Figure 4 yes Figure 1 A schematic diagram of the central base;

[0058] Figure 5 yes Figure 1 Schematic diagram of the intercooler block;

[0059] Figure 6This is a schematic diagram of the three-dimensional assembly relationship of the heat-conducting ring, the heat-dissipating ring, and the heat-conducting strip in Embodiment 2 of the present invention;

[0060] Figure 7 yes Figure 6 Front view of the central heat-conducting ring, the heat dissipation ring, and the heat-conducting strip;

[0061] Figure 8 yes Figure 6 Top view of the central heat-conducting ring, the heat dissipation ring, and the heat-conducting strip;

[0062] Figure 9 This is a schematic diagram of the motor housing in Embodiment 2 of the present invention;

[0063] Figure 10 This is a schematic diagram of the structure of the heat dissipation component in Embodiment 3 of the present invention;

[0064] Figure 11 This is a schematic diagram of the structure of the heat dissipation system in Embodiment 4 of the present invention;

[0065] Figure 12 This is a schematic diagram of the structural composition of the industrial robot in Embodiment 5 of the present invention;

[0066] Figure 13 yes Figure 12 A schematic diagram of the assembly relationship between the motor and the cooling system in an industrial robot.

[0067] Figure label:

[0068] 10. Heat dissipation cage; 11. Heat dissipation frame; 111. Heat-conducting ring; 112. Heat-conducting strip; 1121. First heat-conducting part; 1122. Second heat-conducting part; 113. Heat dissipation ring; 1131. First buckle; 12. Base; 20. Cold head; 100. Motor; 101. Motor housing; 1011. First end face; 1012. Second buckle; 200. Heat dissipation assembly; 300. Heat dissipation pipe; 301. Annular heat dissipation pipe; 302. Heat dissipation part; 3021. Coolant storage chamber; 3022. Radiator fan; 400. Water pump; 500. Industrial robot body; 501. Base; 502. Robotic arm; 5021. Upper arm; 5022. Wrist; 5023. Wrist joint; 5024. Joint sealing cover. Detailed Implementation

[0069] The invention will now be further described with reference to the accompanying drawings.

[0070] Example 1

[0071] like Figure 1 and Figure 2 as well as Figure 5As shown, the present invention provides a heat dissipation component 200, particularly a heat dissipation component 200 for an electric motor, and more specifically, a heat dissipation component 200 for a servo motor of an industrial robot. The heat dissipation component 200 of the present invention includes a heat dissipation cage 10 and a cooling head 20. The heat dissipation cage 10 is fitted onto the motor housing 101 of the motor 100; the cooling head 20 is disposed within the heat dissipation cage 10, and a cooling chamber is provided within the cooling head 20; the heat dissipation cage 10 is at least partially in contact with the motor housing 101, and the heat dissipation cage 10 can conduct heat from the motor housing 101 to the cooling chamber, and exchange heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor 100.

[0072] In the above configuration, the heat sink 10 acts as a heat conductor. By contacting the motor housing 101 of the motor 100, it can conduct heat from the motor housing 101 to the cooling head 20. This allows the coolant in the cooling chamber of the cooling head 20 to absorb the heat transferred to it in a timely manner, thus achieving liquid cooling of the motor 100. This ensures that the motor 100 can operate at room temperature. It avoids the problem of changes in the motor characteristics of the internal motor components of the servo motor encoder caused by long-term operation of the motor 100 in a high-temperature environment, which could lead to deviations in the control of the motor 100 by the host computer. Ultimately, this ensures the control accuracy of the motor 100 by the host computer.

[0073] It should be noted that the coolant is a liquid with heat-absorbing properties, such as water or oil. The heat sink 10 is made of metal, such as copper.

[0074] It should be noted that the motor 100 in this embodiment is a servo motor, on which a servo motor encoder is mounted. When the shaft of the motor 100 rotates continuously, it generates a large amount of heat. Since the motor housing 101 of the motor 100 is made of thermally conductive metal, the heat generated inside is conducted to the motor housing 101, and then to the servo motor encoder. When the heat in the motor housing 101 becomes excessive, its temperature will continue to rise. Simply exchanging heat between the motor housing 101 and the outside air is insufficient to cool the motor 100. Thus, the heat inside the motor housing 101 cannot be dissipated in time, leading to heat conduction to the servo motor encoder and causing its internal temperature to rise. In this embodiment, a heat sink 10 is used as a heat conductor to conduct the heat from the motor housing 101 to the cooling head 20, where the coolant absorbs the heat. This continuously cools the inside of the motor housing 101, preventing the temperature inside the servo motor encoder from rising.

[0075] It should be noted that the cooling head 20 can be in direct or indirect contact with the heat sink 10. As long as the heat from the heat sink 10 can be transferred to the cooling head 20, the heat dissipation component 200 can achieve the function of cooling the motor 100. For example, other heat-conducting components can be installed between the cooling head 20 and the heat sink 10, and heat conduction can also be achieved through these components. That is, the cooling head 20 can be in indirect contact with the heat sink 10.

[0076] Specifically, such as Figure 3 and Figure 4 As shown, in one embodiment, the heat dissipation cage 10 includes a heat dissipation frame 11 and a base 12. The heat dissipation frame 11 is fitted onto the motor housing 101; the base 12 is connected to the heat dissipation frame 11. The heat dissipation frame 11 can press the motor housing 101 tightly onto the base 12 and conduct heat from the motor housing 101 to the base 12. The base 12 can conduct heat from the motor housing 101 to the cooling chamber of the cold head 20 and exchange heat with the coolant.

[0077] In the above configuration, the heat dissipation frame 11 has a dual function. It not only serves as a fixing component to secure the motor housing 101 to the base 12, but also, by contacting the motor housing 101, it can conduct heat from the motor housing 101 to the base 12, and then from the base 12 to the cold head 20, thereby ensuring that the heat dissipation cage 10 can perform its heat conduction function.

[0078] It should be noted that, since the heat dissipation cage 10 is exposed to the air, some of the heat on it can also be dissipated into the air. It also has its own heat dissipation function. In this embodiment, a cooling chamber is provided, utilizing coolant for heat absorption, which improves the heat dissipation efficiency of the heat dissipation component 200 and shortens its cooling time.

[0079] Specifically, such as Figure 3 As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and at least one heat-conducting strip 112. The heat-conducting ring 111 is disposed on the first end face 1011 of the motor housing 101; at least one heat-conducting strip 112 has one end connected to the heat-conducting ring 111 and the other end connected to the base 12; the rotating shaft of the motor 100 passes through the first end face 1011 and the heat-conducting ring 111, and both the heat-conducting ring 111 and the at least one heat-conducting strip 112 are in contact with the motor housing 101. The heat-conducting ring 111 can conduct a portion of the heat on the first end face 1011 to the at least one heat-conducting strip 112, and the at least one heat-conducting strip 112 can conduct the heat on it to the base 12.

[0080] In the above configuration, both the heat-conducting ring 111 and the heat-conducting strip 112 are in contact with the motor housing 101. The heat-conducting strip 112 can conduct heat from the heat-conducting ring 111 while also directly conducting heat from the outer periphery of the motor housing. This improves the heat transfer efficiency of the heat dissipation frame 11, thereby improving the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0081] Of course, in alternative embodiments not shown in the accompanying drawings, the heat-conducting strip 112 may be configured not to contact the motor housing 101.

[0082] Specifically, such as Figure 3 As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and six heat-conducting strips 112. The six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0083] Specifically, such as Figure 3 As shown, in one embodiment, the heat-conducting ring 111 is a rectangular ring, and the six heat-conducting strips 112 are divided into three groups, with two heat-conducting strips 112 in each group. They are respectively arranged on the three sides of the rectangular ring.

[0084] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, an annular groove is provided on the first end face 1011, and a heat-conducting ring 111 is disposed within the annular groove and adapted to fit the heat-conducting ring 111. This is equivalent to partially embedding the heat-conducting ring 111 within the first end face 1011, which increases the contact area between the heat-conducting ring 111 and the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, thereby improving the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0085] Specifically, such as Figure 3 As shown, in one embodiment, the heat-conducting strip 112 includes a first heat-conducting part 1121 and a second heat-conducting part 1122. One end of the first heat-conducting part 1121 is connected to the heat-conducting ring 111; one end of the second heat-conducting part 1122 is connected to the other end of the first heat-conducting part 1121, and the other end of the second heat-conducting part 1122 is connected to the base 12. The first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. Heat on the heat-conducting ring 111 and another part of the first end face 1011 can be conducted to the first heat-conducting part 1121, and the heat on the first heat-conducting part 1121 is conducted to the base 12 via the second heat-conducting part 1122.

[0086] It should be noted that the first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. This 90° angle allows for a certain deviation, which is within ±5°. This arrangement can control the installation accuracy of the heat-conducting strip 112 to ensure that there is sufficient contact area between the heat sink 10 and the motor 100, thereby ensuring its heat dissipation efficiency.

[0087] Specifically, such as Figure 4 As shown, in one embodiment, the base 12 is a circular plate with a through hole. The end of the second heat-conducting part 1122 that is not connected to the first heat-conducting part 1121 is provided with an external thread. It passes through the through hole, and by screwing a nut on the through end of the second heat-conducting part 1122, the motor 100 can be pressed onto the base 12.

[0088] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, a strip-shaped groove is provided on the first end face 1011, and the first heat-conducting part 1121 is disposed in the strip-shaped groove and adapted to the groove. This is equivalent to partially embedding the first heat-conducting part 1121 in the first end face 1011, which can increase its contact area with the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, and further improves the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0089] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the strip groove is connected to the aforementioned annular groove, forming a grid-like structure.

[0090] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the second heat-conducting part 1122 is in contact with the outer peripheral wall of the motor housing 101, and the second heat-conducting part 1122 can conduct heat from the outer peripheral wall to the base 12.

[0091] Of course, depending on the actual situation, the second heat-conducting part 1122 can be spaced apart from the outer peripheral wall of the motor housing 101, and the second heat-conducting part 1122 can not contact the outer peripheral wall of the motor housing 101.

[0092] Example 2

[0093] This invention provides a heat dissipation assembly 200, which includes a heat dissipation cage 10 and a cooling head 20. The heat dissipation cage 10 is fitted onto the motor housing 101 of the motor 100; the cooling head 20 is disposed within the heat dissipation cage 10 and has a cooling chamber inside; the heat dissipation cage 10 is at least partially in contact with the motor housing 101, and can conduct heat from the motor housing 101 to the cooling chamber, exchanging heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor 100.

[0094] In the above configuration, the heat sink 10 acts as a heat conductor. By contacting the motor housing 101 of the motor 100, it can conduct heat from the motor housing 101 to the cooling head 20. This allows the coolant in the cooling chamber of the cooling head 20 to absorb the heat transferred to it in a timely manner, thus achieving liquid cooling of the motor 100. This ensures that the motor 100 can operate at room temperature. It avoids the problem of changes in the motor characteristics of the internal motor components of the servo motor encoder caused by long-term operation of the motor 100 in a high-temperature environment, which could lead to deviations in the control of the motor 100 by the host computer. Ultimately, this ensures the control accuracy of the motor 100 by the host computer.

[0095] It should be noted that the cooling head 20 can be in direct or indirect contact with the heat sink 10. As long as the heat from the heat sink 10 can be transferred to the cooling head 20, the heat dissipation component 200 can achieve the function of cooling the motor 100. For example, other heat-conducting components can be installed between the cooling head 20 and the heat sink 10, and heat conduction can also be achieved through these components. That is, the cooling head 20 can be in indirect contact with the heat sink 10.

[0096] Specifically, such as Figures 6 to 8 As shown, in one embodiment, the heat dissipation cage 10 includes a heat dissipation frame 11 and a base 12. The heat dissipation frame 11 is fitted onto the motor housing 101; the base 12 is connected to the heat dissipation frame 11. The heat dissipation frame 11 can press the motor housing 101 tightly onto the base 12 and conduct heat from the motor housing 101 to the base 12. The base 12 can conduct heat from the motor housing 101 to the cooling chamber of the cold head 20 and exchange heat with the coolant.

[0097] In the above configuration, the heat dissipation frame 11 has a dual function. It not only serves as a fixing component to secure the motor housing 101 to the base 12, but also, by contacting the motor housing 101, it can conduct heat from the motor housing 101 to the base 12, and then from the base 12 to the cold head 20, thereby ensuring that the heat dissipation cage 10 can perform its heat conduction function.

[0098] It should be noted that, since the heat dissipation cage 10 is exposed to the air, some of the heat on it can also be dissipated into the air. It also has its own heat dissipation function. In this embodiment, a cooling chamber is provided, utilizing coolant for heat absorption, which improves the heat dissipation efficiency of the heat dissipation component 200 and shortens its cooling time.

[0099] Specifically, such as Figures 6 to 8As shown, in one embodiment, the heat dissipation frame 11 includes a heat dissipation ring 113, a heat conduction ring 111, and at least one heat conduction strip 112. The heat dissipation ring 113 is disposed on the first end face 1011; the heat conduction ring 111 is disposed on the heat dissipation ring 113; at least one heat conduction strip 112 has one end connected to the heat conduction ring 111 and the other end connected to the base 12; the rotating shaft of the motor 100 passes through the first end face 1011 and the heat conduction ring 111, the heat dissipation ring 113 contacts the motor housing 101, the heat dissipation ring 113 can conduct heat from the first end face 1011 to the heat conduction ring 111, the heat conduction ring 111 can conduct heat from its surface to the at least one heat conduction strip 112, and the at least one heat conduction strip 112 can conduct heat from its surface to the base 12.

[0100] Specifically, such as Figures 6 to 8 As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and six heat-conducting strips 112. The six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0101] Specifically, such as Figures 6 to 8 As shown, in one embodiment, the heat-conducting ring 111 is a circular ring, and six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0102] Specifically, such as Figures 6 to 8 As shown, in one embodiment, the heat-conducting strip 112 includes a first heat-conducting part 1121 and a second heat-conducting part 1122. One end of the first heat-conducting part 1121 is connected to the heat-conducting ring 111; one end of the second heat-conducting part 1122 is connected to the other end of the first heat-conducting part 1121, and the other end of the second heat-conducting part 1122 is connected to the base 12; the first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle.

[0103] It should be noted that the first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. This 90° angle is allowed to have a certain deviation, which is within ±5°.

[0104] Specifically, in one embodiment, the base 12 is a circular plate with a through hole, and the end of the second heat-conducting part 1122 that is not connected to the first heat-conducting part 1121 is provided with an external thread. It passes through the through hole, and by screwing a nut on the through end of the second heat-conducting part 1122, the motor 100 can be pressed onto the base 12.

[0105] Specifically, in one embodiment, an annular groove is provided on the first end face 1011, and a heat dissipation ring 113 is disposed in the annular groove and adapted to the annular groove.

[0106] Specifically, in one embodiment, the heat dissipation ring 113 is a circular ring, and the annular groove is a circular groove.

[0107] Specifically, in one embodiment, the second heat-conducting part 1122 is spaced apart from the outer peripheral wall of the motor housing 101, and the second heat-conducting part 1122 does not contact the outer peripheral wall of the motor housing 101.

[0108] Specifically, such as Figures 6 to 9 As shown, in one embodiment, a first buckle 1131 is provided on the outer periphery of the heat dissipation ring 113, and a second buckle 1012 is provided on the wall of the annular groove. When the heat dissipation ring 113 is placed in the annular groove, the first buckle 1131 radially presses the second buckle 1012, causing the second buckle 1012 to elastically deform and press and fix the first buckle 1131 and the heat conduction ring 111 tightly in the annular groove. This ensures that the motor 100 vibrates during operation, and the heat dissipation ring 113 can also make close contact with the first end face 1011, thereby ensuring its heat conduction efficiency.

[0109] It should be noted that the second buckle 1012 is an elastic element. When it is compressed, it can undergo elastic deformation, thereby generating a reverse elastic compressive force. This elastic compressive force can press and fix the first buckle 1131 and the heat dissipation ring 113 into the annular groove. This ensures that the heat dissipation ring 113 can always be in close contact with the first end face 1011, thereby ensuring its heat conduction efficiency.

[0110] Example 3

[0111] like Figure 10 As shown, the present invention provides a heat dissipation assembly 200, which includes a heat dissipation cage 10 and a cooling head 20. The heat dissipation cage 10 is fitted onto the motor housing 101 of the motor 100; the cooling head 20 is disposed on the heat dissipation cage 10 and has a cooling chamber inside; the heat dissipation cage 10 is at least partially in contact with the motor housing 101, and can conduct heat from the motor housing 101 to the cooling chamber, exchanging heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor 100.

[0112] Specifically, such as Figure 10 As shown, in one embodiment, the heat dissipation cage 10 includes a heat dissipation frame 11 and a base 12. The heat dissipation frame 11 is fitted onto the motor housing 101; the base 12 is connected to the heat dissipation frame 11. The heat dissipation frame 11 can press the motor housing 101 tightly onto the base 12 and conduct heat from the motor housing 101 to the base 12. The base 12 can conduct heat from the motor housing 101 to the cooling chamber of the cold head 20 and exchange heat with the coolant.

[0113] Specifically, such as Figure 10As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and at least one heat-conducting strip 112. The heat-conducting ring 111 is disposed on the first end face 1011 of the motor housing 101; at least one heat-conducting strip 112 has one end connected to the heat-conducting ring 111 and the other end connected to the base 12; the rotating shaft of the motor 100 passes through the first end face 1011 and the heat-conducting ring 111, and both the heat-conducting ring 111 and the at least one heat-conducting strip 112 are in contact with the motor housing 101. The heat-conducting ring 111 can conduct a portion of the heat on the first end face 1011 to the at least one heat-conducting strip 112, and the at least one heat-conducting strip 112 can conduct the heat on it to the base 12.

[0114] Specifically, such as Figure 10 As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and six heat-conducting strips 112. The six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0115] Specifically, such as Figure 10 As shown, in one embodiment, the heat-conducting ring 111 is a circular ring.

[0116] Specifically, such as Figure 10 As shown, in one embodiment, six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0117] Specifically, such as Figure 10 As shown, in one embodiment, an annular groove is provided on the first end face 1011, and a heat-conducting ring 111 is disposed within the annular groove and adapted to fit the heat-conducting ring 111. This is equivalent to partially embedding the heat-conducting ring 111 within the first end face 1011, which increases the contact area between the heat-conducting ring 111 and the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, thereby improving the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0118] Specifically, such as Figure 10 As shown, in one embodiment, the heat-conducting strip 112 includes a first heat-conducting part 1121 and a second heat-conducting part 1122. One end of the first heat-conducting part 1121 is connected to the heat-conducting ring 111; one end of the second heat-conducting part 1122 is connected to the other end of the first heat-conducting part 1121, and the other end of the second heat-conducting part 1122 is connected to the base 12. The first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. Heat on the heat-conducting ring 111 and another part of the first end face 1011 can be conducted to the first heat-conducting part 1121, and the heat on the first heat-conducting part 1121 is conducted to the base 12 via the second heat-conducting part 1122.

[0119] It should be noted that the first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. This 90° angle is allowed to have a certain deviation, which is within ±5°.

[0120] Specifically, in one embodiment, the base 12 is a circular plate.

[0121] Specifically, in one embodiment, the end of the second heat-conducting part 1122 that is not connected to the first heat-conducting part 1121 is directly welded to the circular plate.

[0122] Specifically, such as Figure 10 As shown, in one embodiment, a strip-shaped groove is provided on the first end face 1011, and the first heat-conducting part 1121 is disposed in the strip-shaped groove and adapted to the groove. This is equivalent to partially embedding the first heat-conducting part 1121 in the first end face 1011, which can increase its contact area with the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, and further improves the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0123] Specifically, such as Figure 10 As shown, in one embodiment, the strip groove is connected to the aforementioned annular groove.

[0124] Specifically, in one embodiment, the second heat-conducting part 1122 is in contact with the outer peripheral wall of the motor housing 101, and the second heat-conducting part 1122 can conduct heat from the outer peripheral wall to the base 12.

[0125] Example 4

[0126] like Figure 11 As shown, the present invention provides a heat dissipation system, particularly a heat dissipation system for industrial robots. The heat dissipation system of the present invention includes a heat dissipation pipe 300, a heat dissipation component 200 as described in Embodiment 1, and a water pump 400. The heat dissipation component 200 is disposed on the heat dissipation pipe 300, and its cooling chamber is connected to the heat dissipation pipe 300. The water pump 400 is disposed on the heat dissipation pipe 300; the water pump 400 is capable of pumping coolant from the cooling chamber into the heat dissipation pipe 300 for heat dissipation, and then pumping the cooled coolant back into the cooling chamber.

[0127] In the above configuration, a water pump 400 is installed to circulate the coolant within the heat dissipation pipes 300 and the cooling chamber. This circulates and cools the coolant in the cooling chamber after it has absorbed heat and heated up. This ensures that the coolant in the cooling chamber maintains a low temperature so that it can continue to absorb heat. This achieves the continuous cooling function of the heat dissipation system.

[0128] It should be noted that the heat dissipation component 200 described above is not limited to the heat dissipation component 200 in Embodiment 1, but may also be the heat dissipation component in Embodiments 2 and 3.

[0129] Specifically, such as Figure 11 As shown, in one embodiment, the heat dissipation pipe 300 includes an annular heat dissipation pipe 301 and a heat dissipation section 302. The annular heat dissipation pipe 301 is equipped with a heat dissipation component 200 and a water pump 400; the heat dissipation section 302 is mounted on the annular heat dissipation pipe 301; the water pump 400 pumps coolant from the cooling chamber into the heat dissipation section 302 for heat dissipation, and then pumps the cooled coolant from the heat dissipation section 302 back into the heat dissipation component 200.

[0130] In the above configuration, a heat dissipation unit 302 is provided to cool the coolant in the annular heat dissipation pipe 301. Simultaneously, in conjunction with a water pump 400, the coolant in the cooling chamber can be circulated and cooled. This achieves both coolant circulation and temperature reduction.

[0131] Of course, in alternative embodiments not shown in the accompanying drawings, the annular heat dissipation pipe 301 may have an opening through which new coolant is added. This allows for rapid adjustment of the coolant temperature within the annular heat dissipation pipe 301, thereby rapidly reducing the coolant temperature within the cooling chamber.

[0132] Specifically, such as Figure 11 As shown, in one embodiment, the heat dissipation unit 302 includes a coolant storage chamber 3021 and a radiator fan 3022. The coolant storage chamber 3021 is disposed on the annular heat dissipation pipe 301 and is used to store coolant. The radiator fan 3022 is rotatably disposed on the coolant storage chamber 3021; ​​by rotating the radiator fan 3022, heat exchange can be performed between the air inside the coolant storage chamber 3021 and the outside environment, thereby reducing the temperature of the coolant.

[0133] It should be noted that the aforementioned radiator fan 3022 is used to achieve air cooling of the coolant in the coolant storage chamber 3021. This fulfills the heat dissipation and cooling function of the heat dissipation unit 302.

[0134] Specifically, such as Figure 1 and Figure 2 as well as Figure 5 As shown, in one embodiment, the heat dissipation assembly 200 includes a heat dissipation cage 10 and a cold head 20. The heat dissipation cage 10 is fitted onto the motor housing 101 of the motor 100; the cold head 20 is disposed on the heat dissipation cage 10 and has a cooling chamber inside; the heat dissipation cage 10 is at least partially in contact with the motor housing 101, and can conduct heat from the motor housing 101 to the cooling chamber and exchange heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor 100.

[0135] In the above configuration, the heat sink 10 acts as a heat conductor. By contacting the motor housing 101 of the motor 100, it can conduct heat from the motor housing 101 to the cooling head 20. This allows the coolant in the cooling chamber of the cooling head 20 to absorb the heat transferred to it in a timely manner, thus achieving liquid cooling of the motor 100. This ensures that the motor 100 can operate at room temperature. It avoids the problem of changes in the motor characteristics of the internal motor components of the servo motor encoder caused by long-term operation of the motor 100 in a high-temperature environment, which could lead to deviations in the control of the motor 100 by the host computer. Ultimately, this ensures the control accuracy of the motor 100 by the host computer.

[0136] It should be noted that the cooling head 20 can be in direct or indirect contact with the heat sink 10. As long as the heat from the heat sink 10 can be transferred to the cooling head 20, the heat dissipation component 200 can achieve the function of cooling the motor 100. For example, other heat-conducting components can be installed between the cooling head 20 and the heat sink 10, and heat conduction can also be achieved through these components. That is, the cooling head 20 can be in indirect contact with the heat sink 10.

[0137] Specifically, such as Figure 3 and Figure 4 As shown, in one embodiment, the heat dissipation cage 10 includes a heat dissipation frame 11 and a base 12. The heat dissipation frame 11 is fitted onto the motor housing 101; the base 12 is connected to the heat dissipation frame 11. The heat dissipation frame 11 can press the motor housing 101 tightly onto the base 12 and conduct heat from the motor housing 101 to the base 12. The base 12 can conduct heat from the motor housing 101 to the cooling chamber of the cold head 20 and exchange heat with the coolant.

[0138] In the above configuration, the heat dissipation frame 11 has a dual function. It not only serves as a fixing component to secure the motor housing 101 to the base 12, but also, by contacting the motor housing 101, it can conduct heat from the motor housing 101 to the base 12, and then from the base 12 to the cold head 20, thereby ensuring that the heat dissipation cage 10 can perform its heat conduction function.

[0139] It should be noted that, since the heat dissipation cage 10 is exposed to the air, some of the heat on it can also be dissipated into the air. It also has its own heat dissipation function. In this embodiment, a cooling chamber is provided, utilizing coolant for heat absorption, which improves the heat dissipation efficiency of the heat dissipation component 200 and shortens its cooling time.

[0140] Specifically, such as Figure 3As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and at least one heat-conducting strip 112. The heat-conducting ring 111 is disposed on the first end face 1011 of the motor housing 101; at least one heat-conducting strip 112 has one end connected to the heat-conducting ring 111 and the other end connected to the base 12; the rotating shaft of the motor 100 passes through the first end face 1011 and the heat-conducting ring 111, and both the heat-conducting ring 111 and the at least one heat-conducting strip 112 are in contact with the motor housing 101. The heat-conducting ring 111 can conduct a portion of the heat on the first end face 1011 to the at least one heat-conducting strip 112, and the at least one heat-conducting strip 112 can conduct the heat on it to the base 12.

[0141] In the above configuration, both the heat-conducting ring 111 and the heat-conducting strip 112 are in contact with the motor housing 101. The heat-conducting strip 112 can conduct heat from the heat-conducting ring 111 while also directly conducting heat from the outer periphery of the motor housing. This improves the heat transfer efficiency of the heat dissipation frame 11, thereby improving the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0142] Specifically, such as Figure 3 As shown, in one embodiment, the heat dissipation frame 11 includes a heat-conducting ring 111 and six heat-conducting strips 112. The six heat-conducting strips 112 are spaced apart on the outer periphery of the heat-conducting ring 111.

[0143] Specifically, such as Figure 3 As shown, in one embodiment, the heat-conducting ring 111 is a rectangular ring, and the six heat-conducting strips 112 are divided into three groups, with two heat-conducting strips 112 in each group. They are respectively arranged on the three sides of the rectangular ring.

[0144] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, an annular groove is provided on the first end face 1011, and a heat-conducting ring 111 is disposed within the annular groove and adapted to fit the heat-conducting ring 111. This is equivalent to partially embedding the heat-conducting ring 111 within the first end face 1011, which increases the contact area between the heat-conducting ring 111 and the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, thereby improving the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0145] Specifically, such as Figure 3As shown, in one embodiment, the heat-conducting strip 112 includes a first heat-conducting part 1121 and a second heat-conducting part 1122. One end of the first heat-conducting part 1121 is connected to the heat-conducting ring 111; one end of the second heat-conducting part 1122 is connected to the other end of the first heat-conducting part 1121, and the other end of the second heat-conducting part 1122 is connected to the base 12. The first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. Heat on the heat-conducting ring 111 and another part of the first end face 1011 can be conducted to the first heat-conducting part 1121, and the heat on the first heat-conducting part 1121 is conducted to the base 12 via the second heat-conducting part 1122.

[0146] It should be noted that the first heat-conducting part 1121 and the second heat-conducting part 1122 are connected at a 90° angle. This 90° angle is allowed to have a certain deviation, which is within ±5°.

[0147] Specifically, such as Figure 4 As shown, in one embodiment, the base 12 is a circular plate with a through hole. The end of the second heat-conducting part 1122 that is not connected to the first heat-conducting part 1121 is provided with an external thread. It passes through the through hole, and by screwing a nut on the through end of the second heat-conducting part 1122, the motor 100 can be pressed onto the base 12.

[0148] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, a strip-shaped groove is provided on the first end face 1011, and the first heat-conducting part 1121 is disposed in the strip-shaped groove and adapted to the groove. This is equivalent to partially embedding the first heat-conducting part 1121 in the first end face 1011, which can increase its contact area with the motor housing 101. This improves the heat conduction efficiency of the heat dissipation frame 11, and further improves the heat dissipation and cooling efficiency of the heat dissipation assembly 200.

[0149] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the strip groove is connected to the aforementioned annular groove, forming a grid-like structure.

[0150] Specifically, such as Figure 1 and Figure 2 As shown, in one embodiment, the second heat-conducting part 1122 is in contact with the outer peripheral wall of the motor housing 101, and the second heat-conducting part 1122 can conduct heat from the outer peripheral wall to the base 12.

[0151] Example 5

[0152] like Figure 12As shown, the present invention provides an industrial robot, which includes an industrial robot body 500 and the aforementioned heat dissipation system. The heat dissipation system is disposed on the industrial robot body 500; a motor 100 is disposed within the industrial robot body 500, and the heat dissipation system dissipates heat from the motor 100.

[0153] It should be noted that the motor 100 in this embodiment is a servo motor.

[0154] Specifically, such as Figure 12 As shown, in one embodiment, the industrial robot body 500 includes a base 501 and a robotic arm 502. The base 501 is fixed to an external foundation; the robotic arm 502 is movably mounted on the base 501; the robotic arm 502 is provided with a movable joint, and a motor 100 and a heat dissipation assembly 200 are located at the movable joint.

[0155] In the above configuration, a cooling system is used to continuously dissipate heat and cool the motors 100 installed at each joint. This ensures that each joint of the industrial robot can operate at a suitable temperature. This prevents the industrial robot from operating at high temperatures, and consequently avoids a decrease in the motion accuracy of the robot body 500 caused by slight changes in its electrical and mechanical structures.

[0156] It should be noted that, as Figure 12 As shown, in one embodiment, the robotic arm 502 includes a base waist joint, waist, upper arm 5021, elbow joint, forearm, wrist joint 5023, and wrist 5022. Each joint primarily functions using servo motors and reducers. During robot operation, the motors 100 generate most of the heat, and these motors are located within the robot's joints. The heat generated during prolonged operation of the industrial robot causes an increase in the robot's internal temperature, leading to a decrease in the accuracy of the servo motor encoder and thermal expansion of the gears within the reducer, further reducing the overall accuracy of the robot system.

[0157] The heat dissipation system in this embodiment can cool the motor 100, ensuring that the internal temperature of the industrial robot does not continuously rise. This ensures that the servo motor encoder operates at a suitable temperature, thus preventing a decrease in encoder accuracy. Simultaneously, it also avoids a decrease in robot system accuracy due to thermal expansion of the gears inside the reducer.

[0158] Specifically, such as Figure 12 and Figure 13As shown, in one embodiment, each joint of the industrial robot is provided with mounting holes, the motor 100 and the heat sink 10 are installed in the mounting holes, the opening of the mounting holes is provided with joint sealing covers 5024, the heat sink 10 is fixed to the inner side of the joint sealing cover 5024, the base 12 of the heat sink 10 contacts the inner side of the joint sealing cover 5024, and the cold head 20 is fixed to the outer side of the joint sealing cover 5024.

[0159] Specifically, such as Figure 12 and Figure 13 As shown, in one embodiment, the joint seal cover 5024 retains the existing shape, with a circular heat-dissipating copper plate at its center, which is connected to the base 12 via thermal grease. Multiple threaded holes are provided on the outer side of the joint seal cover 5024 for mounting studs and the cold head 20. The cold head 20 is a conventional cylindrical shape and contains coolant.

[0160] It should be noted that the cooling system can be connected to an external cooling tower to dissipate heat from the coolant within the system. The robotic arm 502 has an internal oil circuit that connects to the cooling tower, ultimately allowing the liquid cooling oil to flow back to the robot's base for cooling.

[0161] It should be noted that all heat-conducting components involved in this application are made of heat-conducting materials, with copper being the preferred material. The annular heat dissipation pipe 301 can be made of rubber.

[0162] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A heat dissipation component, characterized in that, It includes: A heat dissipation cage, which is used to be fitted onto the motor housing of the motor; as well as A cold head is fixedly connected to the outside of the heat dissipation cage, and a cooling chamber is provided inside the cold head; The heat dissipation cage is used to at least partially contact the motor housing. The heat dissipation cage can conduct heat from the motor housing to the cooling chamber and exchange heat with the coolant contained in the cooling chamber to dissipate heat and cool the motor. The heat dissipation cage includes: A heat dissipation frame, which is fitted onto the motor housing; and A base connected to the heat dissipation frame, wherein the cold head is located on the side of the base away from the motor housing; The heat dissipation frame can press the motor housing onto the base and conduct heat from the motor housing to the base. The base can then conduct heat from the motor housing to the cooling chamber of the cold head and exchange heat with the coolant. The heat dissipation frame includes: A heat dissipation ring is disposed on the first end face of the motor housing; and A heat-conducting ring is disposed on the heat dissipation ring; At least one heat-conducting strip, one end of which is connected to the heat-conducting ring, and the other end of which is connected to the base; The motor shaft passes through the first end face and the heat-conducting ring. The heat dissipation ring contacts the motor housing. The heat dissipation ring can conduct heat from the first end face to the heat-conducting ring. The heat-conducting ring can conduct heat from its surface to the at least one heat-conducting strip. The at least one heat-conducting strip can conduct heat from its surface to the base. An annular groove is provided on the first end face, and the heat dissipation ring is disposed in the annular groove and is adapted to the annular groove; A first buckle is provided on the outer periphery of the heat dissipation ring, and a second buckle is provided on the groove wall of the annular groove. When the heat dissipation ring is placed in the annular groove, the first buckle radially presses the second buckle, the second buckle undergoes elastic deformation, and the first buckle and the heat dissipation ring are pressed and fixed in the annular groove.

2. The heat dissipation assembly according to claim 1, characterized in that, The heat-conducting strip includes: A first heat-conducting part, one end of which is connected to the heat-conducting ring; and The second heat-conducting part has one end connected to the other end of the first heat-conducting part, and the other end of the second heat-conducting part is connected to the base. The first heat-conducting part and the second heat-conducting part are connected at an angle of 90°±5°. The heat on the heat-conducting ring and another part of the first end face can be conducted to the first heat-conducting part, and the heat on the first heat-conducting part is conducted to the base through the second heat-conducting part.

3. The heat dissipation assembly according to claim 2, characterized in that, A strip groove is provided on the first end face, and the first heat-conducting part is disposed in the strip groove and adapted to the strip groove.

4. The heat dissipation assembly according to claim 2, characterized in that, The second heat-conducting part is in contact with the outer peripheral wall of the motor housing, and the second heat-conducting part can conduct heat from the outer peripheral wall to the base.

5. A heat dissipation system, characterized in that, It includes: Heat dissipation piping; as well as The heat dissipation assembly according to any one of claims 1 to 4 is disposed on the heat dissipation pipe, and the cooling chamber of the heat dissipation assembly is in communication with the heat dissipation pipe; and A water pump is installed on the heat dissipation pipe; The water pump can pump the coolant in the cooling chamber into the heat dissipation pipe for heat dissipation, and then pump the cooled coolant back into the cooling chamber.

6. The heat dissipation system according to claim 5, characterized in that, The heat dissipation piping includes: A ring-shaped heat dissipation pipe, on which the heat dissipation assembly and the water pump are mounted; and A heat dissipation unit is disposed on the annular heat dissipation pipe; The water pump can pump the coolant in the cooling chamber into the heat dissipation section for heat dissipation, and then pump the coolant after it has been cooled by the heat dissipation section back into the heat dissipation component.

7. The heat dissipation system according to claim 6, characterized in that, The heat dissipation unit includes: A coolant storage chamber, disposed on the annular heat dissipation pipe, is used to store coolant; and A radiator fan is rotatably mounted on the coolant storage chamber; The radiator fan can be rotated to exchange heat between the air in the coolant storage chamber and the outside environment, thereby reducing the temperature of the coolant.

8. An industrial robot, characterized in that, It includes: Industrial robot body; as well as The heat dissipation system according to any one of claims 5 to 7, wherein the heat dissipation system is disposed on the main body of the industrial robot; The industrial robot body is equipped with a motor, and the heat dissipation system dissipates heat from the motor.

9. The industrial robot according to claim 8, characterized in that, The main body of the industrial robot includes: The base, which is fixed to the external foundation; A robotic arm, whose movable assembly is located on the base; The robotic arm is equipped with a movable joint, and the motor and the heat dissipation component are located on the movable joint.

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