Robot joint driving structure and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot joint driving structure and a robotic.The robot joint driving structure comprises a joint driving structure body, a wrapping heat dissipation mechanism, a negative pressure air inlet mechanism, a gasification heat dissipation mechanism and a circulation heat dissipation mechanism, and the wrapping heat dissipation mechanism is arranged on the outer side of the joint driving structure body; the wrapping heat dissipation mechanism comprises a wrapping heat dissipation bin, and a pair of wrapping heat dissipation supporting nets is fixedly installed in the wrapping heat dissipation bin. According to the robot joint driving structure and the robot, through arrangement of corresponding mechanisms, the heat dissipation effect of the robot joint driving structure is enhanced, especially when the robot operates for a long time, the heat accumulation condition of the robot joint driving structure is reduced, abrasion of robot joints is relieved, and the service life of the robot joints is prolonged. And the service life of the robot is prolonged, the influence on the operation quality of the robot is reduced, and long-term operation of the robot is better facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot joint driving structure and a robot. Background Art

[0002] The basic definition of a robot joint drive structure refers to a device in a robot joint that is used to provide motion power and control. Its main function is to transmit power to the moving parts of the joint, thereby realizing the movement and operation of the robot. The robot joint drive structure is composed of joints, drive devices, transmission devices, sensors, controllers and auxiliary components. These parts work together to achieve precise movement and efficient control of the robot joints.

[0003] At present, the heat dissipation of robots is the top priority to be solved for robots, especially the joint drive structure of robots, which has the characteristics of compactness, precision and fast movement. The reducer, motor and driver contained therein generate high heat, which is in urgent need of being solved. Most of the existing robot joint drive parts rely on the outer shell for heat dissipation, and the heat dissipation effect is extremely poor. Especially when the robot is running for a long time, it is easy to cause heat accumulation in the joint drive part of the robot, which not only accelerates the wear of the robot joints and reduces the service life of the robot, but also affects the operation quality of the robot, which is not conducive to the long-term operation of the robot.

[0004] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0005] The object of the present invention is to provide a robot joint drive structure and a robot, which can solve the problem that the heat dissipation effect of the robot joint drive structure is poor and heat is easily accumulated, which not only accelerates the wear of the robot joints but also affects the operation quality of the robot.

[0006] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0007] A robot joint drive structure, comprising: a joint drive structure body, a coating heat dissipation mechanism, a negative pressure air intake mechanism, a gasification heat dissipation mechanism and a circulation heat dissipation mechanism;

[0008] A coated heat dissipation mechanism is provided on the outer side of the joint driving structure body, and the coated heat dissipation mechanism includes a coated heat dissipation bin, a pair of coated heat dissipation support nets are fixedly installed in the coated heat dissipation bin, a coated heat dissipation water-blocking film is fixedly installed on the side close to each other of the pair of coated heat dissipation support nets, a coated heat dissipation coolant is provided between the pair of coated heat dissipation water-blocking films, and a plurality of pairs of evenly distributed coated heat dissipation heat dissipation nets are fixedly installed on the coated heat dissipation bin;

[0009] A negative pressure air intake mechanism is fixedly installed on the lower side of the coated heat dissipation bin, and the negative pressure air intake mechanism includes a negative pressure air intake positioning bin, a negative pressure air intake fan is arranged in the negative pressure air intake positioning bin, and a negative pressure air intake pressure plate is arranged on the upper side of the negative pressure air intake positioning bin;

[0010] A gasification heat dissipation mechanism is rotatably mounted on the outer side of the joint drive structure body;

[0011] A circulation heat dissipation mechanism is arranged in the coating heat dissipation bin.

[0012] In one or more embodiments of the present invention, a negative pressure air intake dust screen is fixedly installed on the lower side of the negative pressure air intake positioning chamber, which reduces the entry of external dust, reduces the probability of the coated heat dissipation coolant being contaminated, and reduces the probability of dust entering the circulation heat dissipation half chamber;

[0013] The negative pressure air intake positioning bin is provided with a positioning groove matching the negative pressure air intake dust screen, which facilitates the fixation of the negative pressure air intake positioning bin to the negative pressure air intake dust screen, reduces the probability of the negative pressure air intake dust screen detaching, improves the stability of the negative pressure air intake dust screen, and reduces the probability of the negative pressure air intake dust screen tilting.

[0014] In one or more embodiments of the present invention, a negative pressure air intake motor is fixedly installed on the lower side of the negative pressure air intake dust screen, which can drive the negative pressure air intake fan and provide corresponding power for the rotation of the negative pressure air intake fan, so that the balance of the negative pressure air intake fan is guaranteed;

[0015] The negative pressure air intake motor is arranged to penetrate the negative pressure air intake dust screen, which facilitates the connection between the negative pressure air intake motor and the negative pressure air intake fan, and at the same time positions the circulation heat dissipation air intake pipe, so that the balance of the circulation heat dissipation air intake pipe is guaranteed;

[0016] The negative pressure air intake motor is fixedly installed with the negative pressure air intake fan, and can drive the rotation of the negative pressure air intake fan, thereby providing corresponding power for the rotation of the negative pressure air intake fan.

[0017] In one or more embodiments of the present invention, a pair of negative pressure intake balance bars are slidably installed in the negative pressure intake pressure plate, which improves the balance of the negative pressure intake pressure plate, reduces the probability of the negative pressure intake pressure plate tilting, improves the stability of the negative pressure intake pressure plate, enables the negative pressure intake pressure plate to better seal the coated heat dissipation bin, and reduces the probability of leakage of the coated heat dissipation coolant in the coated heat dissipation bin;

[0018] The negative pressure air intake balance bar is fixedly installed with the coated heat dissipation bin, which improves the stability of the negative pressure air intake balance bar, reduces the probability of the negative pressure air intake balance bar tilting, and ensures the balance of the negative pressure air intake balance bar;

[0019] A negative pressure air intake spring is installed between the negative pressure air intake balance bar and the negative pressure air intake pressure plate, which can squeeze the negative pressure air intake pressure plate so that the negative pressure air intake pressure plate can better seal the coated heat dissipation bin, thereby further reducing the probability of leakage of the coated heat dissipation coolant in the coated heat dissipation bin;

[0020] The negative pressure air intake spring is sleeved on the negative pressure air intake balance rod, which improves the balance of the negative pressure air intake spring, reduces the probability of the negative pressure air intake spring tilting, and improves the stability of the negative pressure air intake spring.

[0021] In one or more embodiments of the present invention, the gasification heat dissipation mechanism includes a gasification heat dissipation ring warehouse, which can rotate around the joint drive structure body to absorb the heat in the joint drive structure body and quickly dissipate the heat in the joint drive structure body;

[0022] A pair of gasification heat dissipation positioning rings are rotatably installed in the gasification heat dissipation ring warehouse, which improves the stability of the gasification heat dissipation ring warehouse, reduces the probability of the gasification heat dissipation ring warehouse tilting, and reduces the probability of the gasification heat dissipation ring warehouse shaking;

[0023] The gasification heat dissipation positioning ring is fixedly installed with the joint driving structure body, which improves the stability of the gasification heat dissipation positioning ring, reduces the probability of the gasification heat dissipation positioning ring being separated, and enables the gasification heat dissipation positioning ring to better fix the position of the gasification heat dissipation ring bin;

[0024] A plurality of uniformly distributed gasification heat dissipation anti-wear beads are rotatably mounted on the gasification heat dissipation positioning ring, which reduces the friction between the gasification heat dissipation positioning ring and the gasification heat dissipation ring bin and increases the service life of the gasification heat dissipation ring bin and the gasification heat dissipation positioning ring.

[0025] In one or more embodiments of the present invention, a torsion groove matching the gasification heat dissipation anti-wear beads is cut on the gasification heat dissipation positioning ring, which reduces the probability of the gasification heat dissipation anti-wear beads detaching, improves the stability of the gasification heat dissipation anti-wear beads, and reduces the probability of the gasification heat dissipation anti-wear beads shaking;

[0026] The gasification heat dissipation ring bin is provided with gasification heat dissipation alcohol, which can quickly absorb heat and gasify it, thereby improving the heat dissipation efficiency of the joint drive structure body;

[0027] A plurality of evenly distributed gasification heat dissipation connecting pipes are fixedly installed outside the gasification heat dissipation ring warehouse, and the gasified gasification heat dissipation alcohol can enter the gasification heat dissipation connecting pipes, which can expand the heat dissipation area and improve the heat dissipation efficiency of the gasification heat dissipation alcohol.

[0028] In one or more embodiments of the present invention, a gasification heat dissipation gear ring is fixedly installed on one side of the gasification heat dissipation ring warehouse, which can be driven by the gasification heat dissipation gear to rotate, providing corresponding power for the rotation of the gasification heat dissipation ring warehouse, so that the gasification heat dissipation ring warehouse can better absorb the heat on the surface of the joint drive structure body;

[0029] The coated heat dissipation bin is fixedly provided with a gasification heat dissipation motor, which can drive the rotation of the gasification heat dissipation gear, provide corresponding power for the rotation of the gasification heat dissipation gear, and make the rotation of the gasification heat dissipation gear more stable;

[0030] The gasification heat dissipation motor is arranged to penetrate the encapsulated heat dissipation bin, and a gasification heat dissipation gear is fixedly mounted on the gasification heat dissipation motor. The gasification heat dissipation gear matches the gasification heat dissipation gear ring, and the gasification heat dissipation gear can drive the rotation of the gasification heat dissipation gear ring, thereby driving the rotation of the gasification heat dissipation ring bin.

[0031] In one or more embodiments of the present invention, the circulation heat dissipation mechanism includes a circulation heat dissipation half-chamber, which facilitates the circulation of air, provides a corresponding channel for the connection of the circulation heat dissipation discharge pipe, and provides corresponding assistance for the heat dissipation of the gasification heat dissipation connection pipe;

[0032] A circulation heat dissipation ring plate is slidably installed in the circulation heat dissipation half-chamber, which can follow the rotation of the gasification heat dissipation ring chamber, and can seal the space formed by the circulation heat dissipation half-chamber and the circulation heat dissipation ring plate, thereby reducing the possibility of the encapsulated heat dissipation coolant entering the circulation heat dissipation half-chamber;

[0033] A plurality of convection heat dissipation discharge pipes are fixedly installed on the upper part of the circulation heat dissipation half-bin, which facilitates the circulation of air and enables the air to be discharged after entering the circulation heat dissipation half-bin. The circulation heat dissipation ring plate penetrates the circulation heat dissipation half-bin, the covering heat dissipation support net and the covering heat dissipation water-blocking film.

[0034] In one or more embodiments of the present invention, the gasification heat dissipation connecting pipe is arranged through the gasification heat dissipation ring bin and the circulation heat dissipation ring plate, and a circulation heat dissipation air inlet pipe is fixedly installed on the lower side of the circulation heat dissipation half bin, which facilitates the air to enter the circulation heat dissipation half bin, so that the air is discharged through the circulation heat dissipation exhaust pipe after absorbing heat;

[0035] The circulating heat dissipation air intake pipe is arranged through the circulating heat dissipation half-chamber and the negative pressure air intake pressure plate. A plurality of air intake grooves are opened on the circulating heat dissipation air intake pipe to facilitate the entry of air, so that the air in the negative pressure air intake positioning chamber can enter the circulating heat dissipation half-chamber more easily. The negative pressure air intake motor is arranged through the circulating heat dissipation air intake pipe.

[0036] A robot comprises a robot body and a robot joint driving structure, wherein the robot joint driving structure is installed in the robot body.

[0037] Compared with the prior art, the robot joint drive structure and the robot of the present invention enhance the heat dissipation effect of the robot joint drive structure through the setting of corresponding mechanisms, especially when the robot runs for a long time, the heat accumulation of the robot joint drive structure is reduced, which not only slows down the wear of the robot joints and improves the service life of the robot, but also reduces the impact on the operation quality of the robot, which is more conducive to the long-term operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a partial structural cross-sectional view of a robot joint driving structure in one embodiment of the present invention;

[0040] Figure 2 for Figure 1 Schematic diagram of the structure at A in the middle;

[0041] Figure 3 for Figure 1 Schematic diagram of the structure at B in the middle;

[0042] Figure 4 for Figure 1 Schematic diagram of the structure at C in the middle;

[0043] Figure 5 for Figure 1 Schematic diagram of the structure at D in the middle;

[0044] Figure 6 for Figure 1 Schematic diagram of the structure at E in the middle;

[0045] Figure 7 It is a partial structural front view of a robot joint driving structure in one embodiment of the present invention;

[0046] Figure 8 for Figure 7 Schematic diagram of the structure at F in the middle;

[0047] Fig. 9 It is a three-dimensional diagram of a robot joint driving structure in one embodiment of the present invention.

[0048] Description of main reference numerals:

[0049] 1-joint drive structure body, 2-coated heat dissipation mechanism, 201-coated heat dissipation chamber, 202-coated heat dissipation support net, 203-coated heat dissipation water-blocking film, 204-coated heat dissipation coolant, 205-coated heat dissipation net, 3-negative pressure air intake mechanism, 301-negative pressure air intake positioning chamber, 302-negative pressure air intake fan, 303-negative pressure air intake pressure plate, 304-negative pressure air intake dust screen, 305-negative pressure air intake motor, 306-negative pressure air intake balance bar, 307- Negative pressure intake spring, 4-gasification heat dissipation mechanism, 401-gasification heat dissipation ring warehouse, 402-gasification heat dissipation positioning ring, 403-gasification heat dissipation anti-wear beads, 404-gasification heat dissipation alcohol, 405-gasification heat dissipation connecting pipe, 406-gasification heat dissipation gear ring, 407-gasification heat dissipation motor, 408-gasification heat dissipation gear, 5-flow heat dissipation mechanism, 501-flow heat dissipation half warehouse, 502-flow heat dissipation ring plate, 503-flow heat dissipation discharge pipe, 504-flow heat dissipation intake pipe. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0051] like Figures 1 to 9 As shown, a robot joint driving structure in one embodiment of the present invention includes: a joint driving structure body 1, a covering heat dissipation mechanism 2, a negative pressure air intake mechanism 3, a gasification heat dissipation mechanism 4 and a circulation heat dissipation mechanism 5.

[0052] like Figures 1 to 8 As shown, a coated heat dissipation mechanism 2 is provided on the outer side of the joint driving structure body 1, and the coated heat dissipation mechanism 2 includes a coated heat dissipation bin 201, which provides corresponding space for heat dissipation of the joint driving structure body 1 and provides corresponding space for accommodating the coated heat dissipation coolant 204.

[0053] Among them, a pair of coated heat dissipation support nets 202 are fixedly installed in the coated heat dissipation chamber 201, which can support the coated heat dissipation water-blocking film 203, so that the stability of the coated heat dissipation water-blocking film 203 is correspondingly improved, and the coated heat dissipation coolant 204 is better accommodated, reducing the probability of damage to the coated heat dissipation water-blocking film 203.

[0054] In addition, a pair of heat dissipation support nets 202 are fixedly installed with heat dissipation water-blocking films 203 on the adjacent sides, which can block the heat dissipation coolant 204 and reduce the possibility of leakage of the heat dissipation coolant 204, while allowing air to circulate.

[0055] In addition, a heat dissipation coolant 204 is provided between a pair of heat dissipation water-blocking films 203 , which can quickly absorb heat and enable the joint driving structure body 1 to quickly dissipate heat.

[0056] In addition, a plurality of pairs of evenly distributed encapsulated heat dissipation nets 205 are fixedly mounted on the encapsulated heat dissipation chamber 201, which facilitates the discharge of air and enables the air to better carry heat for heat dissipation.

[0057] like Figures 1 to 8 As shown, a negative pressure air intake mechanism 3 is fixedly installed on the lower side of the coated heat dissipation bin 201. The negative pressure air intake mechanism 3 includes a negative pressure air intake positioning bin 301, which facilitates the circulation of air so that air can enter the coated heat dissipation coolant 204 and the circulating heat dissipation half bin 501.

[0058] Among them, a negative pressure air intake positioning chamber 301 is provided with a negative pressure air intake fan 302, which can provide corresponding power for the circulation of air by rotating.

[0059] In addition, a negative pressure air intake pressure plate 303 is provided on the upper side of the negative pressure air intake positioning chamber 301, which can close the negative pressure air intake positioning chamber 301, allowing air to enter the circulating heat dissipation air intake pipe 504 first. After the air pressure increases, the negative pressure air intake pressure plate 303 is pushed open, allowing air to enter the coated heat dissipation coolant 204, thereby correspondingly improving the heat dissipation capacity of the coated heat dissipation coolant 204.

[0060] like Figures 1 to 7 As shown, a negative pressure air intake dust shielding net 304 is fixedly installed on the lower side of the negative pressure air intake positioning chamber 301, which reduces the entry of external dust, reduces the probability of the coated heat dissipation coolant 204 being contaminated, and reduces the probability of dust entering the circulating heat dissipation half chamber 501.

[0061] Among them, a positioning groove matching the negative pressure air intake dust screen 304 is bored on the negative pressure air intake positioning chamber 301, which facilitates the fixation of the negative pressure air intake dust screen 304 by the negative pressure air intake positioning chamber 301, reduces the probability of the negative pressure air intake dust screen 304 detaching, improves the stability of the negative pressure air intake dust screen 304, and reduces the probability of the negative pressure air intake dust screen 304 tilting.

[0062] like Figures 1 to 5As shown, a negative pressure air intake motor 305 is fixedly installed on the lower side of the negative pressure air intake dust screening net 304, which can drive the negative pressure air intake fan 302, provide corresponding power for the rotation of the negative pressure air intake fan 302, and ensure the balance of the negative pressure air intake fan 302.

[0063] Among them, the negative pressure air intake motor 305 is set through the negative pressure air intake dust shielding net 304, which facilitates the connection between the negative pressure air intake motor 305 and the negative pressure air intake fan 302, and at the same time locates the position of the circulation heat dissipation air intake pipe 504 to ensure the balance of the circulation heat dissipation air intake pipe 504.

[0064] In addition, the negative pressure air intake motor 305 is fixedly installed with the negative pressure air intake fan 302 , and can drive the rotation of the negative pressure air intake fan 302 , providing corresponding power for the rotation of the negative pressure air intake fan 302 .

[0065] like Figures 1 to 6 As shown, a pair of negative pressure air intake balance rods 306 are slidably installed in the negative pressure air intake pressure plate 303, which improves the balance of the negative pressure air intake pressure plate 303, reduces the probability of the negative pressure air intake pressure plate 303 tilting, improves the stability of the negative pressure air intake pressure plate 303, enables the negative pressure air intake pressure plate 303 to better seal the coated heat dissipation bin 201, and reduces the probability of leakage of the coated heat dissipation coolant 204 in the coated heat dissipation bin 201.

[0066] In addition, the negative pressure air intake balance bar 306 is fixedly installed with the coated heat dissipation bin 201, which improves the stability of the negative pressure air intake balance bar 306, reduces the probability of the negative pressure air intake balance bar 306 tilting, and ensures the balance of the negative pressure air intake balance bar 306.

[0067] Among them, a negative pressure air intake spring 307 is installed between the negative pressure air intake balance rod 306 and the negative pressure air intake pressure plate 303, which can squeeze the negative pressure air intake pressure plate 303 so that the negative pressure air intake pressure plate 303 can better seal the coated heat dissipation bin 201, thereby further reducing the probability of leakage of the coated heat dissipation coolant 204 in the coated heat dissipation bin 201.

[0068] In addition, the negative pressure air intake spring 307 is sleeved on the negative pressure air intake balance rod 306, which improves the balance of the negative pressure air intake spring 307, reduces the probability of the negative pressure air intake spring 307 tilting, and improves the stability of the negative pressure air intake spring 307.

[0069] like Figures 1 to 7 As shown, a gasification heat dissipation mechanism 4 is rotatably installed on the outer side of the joint driving structure body 1. The gasification heat dissipation mechanism 4 includes a gasification heat dissipation ring warehouse 401, which can rotate around the joint driving structure body 1 to absorb the heat in the joint driving structure body 1 and quickly dissipate the heat in the joint driving structure body 1.

[0070] Among them, a pair of gasification heat dissipation positioning rings 402 are rotatably installed in the gasification heat dissipation ring warehouse 401, which improves the stability of the gasification heat dissipation ring warehouse 401, reduces the probability of the gasification heat dissipation ring warehouse 401 tilting, and reduces the probability of the gasification heat dissipation ring warehouse 401 shaking.

[0071] In addition, the gasification heat dissipation positioning ring 402 is fixedly installed with the joint driving structure body 1, which improves the stability of the gasification heat dissipation positioning ring 402, reduces the probability of the gasification heat dissipation positioning ring 402 being detached, and enables the gasification heat dissipation positioning ring 402 to better fix the position of the gasification heat dissipation ring warehouse 401.

[0072] In addition, a number of evenly distributed gasification heat dissipation anti-wear beads 403 are rotatably mounted on the gasification heat dissipation positioning ring 402, which reduces the friction between the gasification heat dissipation positioning ring 402 and the gasification heat dissipation ring chamber 401 and increases the service life of the gasification heat dissipation ring chamber 401 and the gasification heat dissipation positioning ring 402.

[0073] like Figures 1 to 8 As shown, the gasification heat dissipation positioning ring 402 is provided with a torsion groove matching the gasification heat dissipation anti-wear beads 403, which reduces the probability of the gasification heat dissipation anti-wear beads 403 being detached, improves the stability of the gasification heat dissipation anti-wear beads 403, and reduces the probability of the gasification heat dissipation anti-wear beads 403 shaking.

[0074] Among them, the gasification heat dissipation ring chamber 401 is provided with gasification heat dissipation alcohol 404, which can quickly absorb heat and vaporize it, so that the heat dissipation efficiency of the joint driving structure body 1 is improved.

[0075] In addition, a number of evenly distributed gasification heat dissipation connecting pipes 405 are fixedly installed outside the gasification heat dissipation ring warehouse 401, and the gasified gasification heat dissipation alcohol 404 can enter the gasification heat dissipation connecting pipes 405, which can expand the heat dissipation area and improve the heat dissipation efficiency of the gasification heat dissipation alcohol 404.

[0076] like Figures 1 to 4 As shown, a gasification heat dissipation gear ring 406 is fixedly installed on one side of the gasification heat dissipation ring warehouse 401, which can be driven by the gasification heat dissipation gear 408 to rotate, providing corresponding power for the rotation of the gasification heat dissipation ring warehouse 401, so that the gasification heat dissipation ring warehouse 401 can better absorb the heat on the surface of the joint driving structure body 1.

[0077] In addition, a gasification heat dissipation motor 407 is fixedly installed on the encapsulated heat dissipation chamber 201, which can drive the rotation of the gasification heat dissipation gear 408, provide corresponding power for the rotation of the gasification heat dissipation gear 408, and make the rotation of the gasification heat dissipation gear 408 more stable.

[0078] Among them, the gasification heat dissipation motor 407 is set to penetrate the covered heat dissipation bin 201, and the gasification heat dissipation gear 408 is fixedly installed on the gasification heat dissipation motor 407. The gasification heat dissipation gear 408 matches the gasification heat dissipation gear ring 406. The gasification heat dissipation gear 408 can drive the rotation of the gasification heat dissipation gear ring 406, and then drive the rotation of the gasification heat dissipation ring bin 401.

[0079] like Figures 1 to 6 As shown, a circulation heat dissipation mechanism 5 is provided in the encapsulated heat dissipation bin 201, and the circulation heat dissipation mechanism 5 includes a circulation heat dissipation half bin 501, which facilitates the circulation of air, provides a corresponding channel for the connection of the circulation heat dissipation exhaust pipe 503, and provides corresponding assistance for the heat dissipation of the gasification heat dissipation connecting pipe 405.

[0080] Among them, a circulation heat dissipation ring plate 502 is slidably installed in the circulation heat dissipation half-chamber 501, which can follow the rotation of the vaporization heat dissipation ring chamber 401, and can close the space formed by the circulation heat dissipation half-chamber 501 and the circulation heat dissipation ring plate 502, thereby reducing the possibility of the encapsulated heat dissipation coolant 204 entering the circulation heat dissipation half-chamber 501.

[0081] In addition, a plurality of convection heat dissipation exhaust pipes 503 are fixedly installed on the upper part of the circulation heat dissipation half-chamber 501, which facilitates the circulation of air and enables the air to be discharged after entering the circulation heat dissipation half-chamber 501. The circulation heat dissipation ring plate 502 penetrates the circulation heat dissipation half-chamber 501, the covering heat dissipation support net 202 and the covering heat dissipation water-blocking film 203.

[0082] like Figures 1 to 7 As shown, the gasification heat dissipation connecting pipe 405 passes through the gasification heat dissipation ring bin 401 and the circulation heat dissipation ring plate 502, and a circulation heat dissipation air inlet pipe 504 is fixedly installed on the lower side of the circulation heat dissipation half bin 501, which facilitates the air to enter the circulation heat dissipation half bin 501, so that the air can be discharged through the circulation heat dissipation exhaust pipe 503 after absorbing heat.

[0083] In addition, the circulating heat dissipation air intake pipe 504 is arranged through the circulating heat dissipation half-chamber 501 and the negative pressure air intake pressure plate 303, and a plurality of air intake grooves are opened on the circulating heat dissipation air intake pipe 504 to facilitate the entry of air, so that the air in the negative pressure air intake positioning chamber 301 can more easily enter the circulating heat dissipation half-chamber 501, and the negative pressure air intake motor 305 is arranged through the circulating heat dissipation air intake pipe 504.

[0084] A robot comprises a robot body and a robot joint driving structure, wherein the robot joint driving structure is installed in the robot body.

[0085] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0086] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot joint driving structure, characterized in that: include: Joint driving structure body; A coated heat dissipation mechanism is arranged on the outside of the joint driving structure body, the coated heat dissipation mechanism includes a coated heat dissipation bin, a pair of coated heat dissipation support nets are fixedly installed in the coated heat dissipation bin, a coated heat dissipation water-blocking film is fixedly installed on the side close to each other of the pair of coated heat dissipation support nets, a coated heat dissipation coolant is arranged between the pair of coated heat dissipation water-blocking films, and a plurality of pairs of evenly distributed coated heat dissipation heat dissipation nets are fixedly installed on the coated heat dissipation bin; A negative pressure air intake mechanism is fixedly installed on the lower side of the coated heat dissipation bin, the negative pressure air intake mechanism includes a negative pressure air intake positioning bin, a negative pressure air intake fan is arranged in the negative pressure air intake positioning bin, and a negative pressure air intake pressure plate is arranged on the upper side of the negative pressure air intake positioning bin; A vaporization heat dissipation mechanism is rotatably mounted on the outer side of the joint drive structure body; The circulation heat dissipation mechanism is arranged in the encapsulated heat dissipation bin.

2. A robot joint driving structure according to claim 1, characterized in that: A negative pressure air intake dust isolation net is fixedly installed on the lower side of the negative pressure air intake positioning bin, and a positioning groove matching the negative pressure air intake dust isolation net is drilled on the negative pressure air intake positioning bin.

3. A robot joint driving structure according to claim 2, characterized in that: A negative pressure air intake motor is fixedly mounted on the lower side of the negative pressure air intake dust-shielding net. The negative pressure air intake motor is arranged to penetrate the negative pressure air intake dust-shielding net. The negative pressure air intake motor is fixedly mounted to the negative pressure air intake fan.

4. A robot joint driving structure according to claim 3, characterized in that: A pair of negative pressure air intake balance bars are slidably installed in the negative pressure air intake pressure plate, the negative pressure air intake balance bars are fixedly installed on the coated heat dissipation bin, a negative pressure air intake spring is installed between the negative pressure air intake balance bars and the negative pressure air intake pressure plate, and the negative pressure air intake spring is sleeved on the negative pressure air intake balance bars.

5. A robot joint driving structure according to claim 1, characterized in that: The gasification and heat dissipation mechanism includes a gasification and heat dissipation ring warehouse, in which a pair of gasification and heat dissipation positioning rings are rotatably installed. The gasification and heat dissipation positioning rings are fixedly installed on the joint driving structure body, and a number of evenly distributed gasification and heat dissipation anti-wear beads are rotatably installed on the gasification and heat dissipation positioning rings.

6. A robot joint driving structure according to claim 5, characterized in that: The gasification heat dissipation positioning ring is provided with a torsion groove matching the gasification heat dissipation anti-wear beads, the gasification heat dissipation ring bin is provided with gasification heat dissipation alcohol, and a plurality of evenly distributed gasification heat dissipation connecting pipes are fixedly installed outside the gasification heat dissipation ring bin.

7. A robot joint driving structure according to claim 6, characterized in that: A gasification heat dissipation gear ring is fixedly installed on one side of the gasification heat dissipation ring warehouse, a gasification heat dissipation motor is fixedly installed on the coated heat dissipation warehouse, the gasification heat dissipation motor is arranged through the coated heat dissipation warehouse, a gasification heat dissipation gear is fixedly installed on the gasification heat dissipation motor, and the gasification heat dissipation gear matches the gasification heat dissipation gear ring.

8. A robot joint driving structure according to claim 7, characterized in that: The circulation heat dissipation mechanism includes a circulation heat dissipation half-bin, in which a circulation heat dissipation ring plate is slidably installed, and a plurality of convection heat dissipation discharge pipes are fixedly installed on the circulation heat dissipation half-bin. The circulation heat dissipation ring plate passes through the circulation heat dissipation half-bin, the covering heat dissipation support net and the covering heat dissipation water-blocking film.

9. A robot joint driving structure according to claim 8, characterized in that: The gasification heat dissipation connecting pipe passes through the gasification heat dissipation ring warehouse and the circulation heat dissipation ring plate. The lower side of the circulation heat dissipation half warehouse is fixedly installed with a circulation heat dissipation air intake pipe. The circulation heat dissipation air intake pipe passes through the circulation heat dissipation half warehouse and the negative pressure intake pressure plate. A plurality of air intake grooves are drilled on the circulation heat dissipation air intake pipe. The negative pressure intake motor passes through the circulation heat dissipation air intake pipe.

10. A robot, comprising a robot body and a robot joint driving structure, wherein the robot joint driving structure is installed in the robot body, characterized in that: The robot joint driving structure is the robot joint driving structure as claimed in any one of claims 1 to 9.

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