Robot shaft arm assembly with active cooling channel

Abstract

The invention relates to the technical field of robot shaft arms, and particularly discloses a robot shaft arm assembly with an active cooling channel, the robot shaft arm assembly comprises a supporting arm and a rotating joint arranged on the supporting arm, and the supporting arm and the rotating joint are further provided with a heated driving mechanism arranged in an inner cavity of the supporting arm, the protection mechanism can be movably arranged on the outer side of the rotating joint in a sleeving mode. The cooling fan is fixed on the inner side of the rotating joint, and the cooling fan is connected with a switch; the rotating joint is provided with an air inlet, and the protection mechanism is provided with an exhaust port. The device achieves automatic response to temperature change, and has the active cooling effect of being simple in structure, convenient to maintain and free of extra electric control signals.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm shafts, and particularly to a robot arm shaft assembly with an active cooling channel. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, the application of robot equipment in complex working conditions such as high load, high intensity, and long cycle is becoming more and more common. As an important transmission and execution component of the mechanical system, the robot arm shaft is extremely prone to local overheating during continuous operation due to poor heat dissipation of the drive motor and joint mechanism, resulting in emulsification of lubricating oil, increased component wear, and even system failures or performance degradation. Currently, common cooling methods mostly rely on passive heat dissipation or external electronically controlled driving fans. These methods not only have complex structures and cumbersome maintenance, but also require the arrangement of multiple electrical signals and temperature sensing elements, making it difficult to achieve independent and automatic heat dissipation adjustment for each joint. There are problems such as response lag, high energy consumption, and insufficient reliability. Therefore, it is of great significance to develop an active cooling device that can automatically respond to temperature changes, has a simple structure, is easy to maintain, and does not require additional electrical control signals for improving the overall operation safety and reliability of the robot. Summary of the Invention

[0003] An embodiment of the present application provides a robot arm shaft assembly with an active cooling channel, and the main purpose is to achieve an active cooling effect that can automatically respond to temperature changes, has a simple structure, is easy to maintain, and does not require additional electrical control signals.

[0004] To achieve the above object, an embodiment of the present application provides a robot arm shaft assembly with an active cooling channel, including a support arm and a rotating joint provided on the support arm. The support arm and the rotating joint are further provided with: a heat-driven mechanism disposed in the inner cavity of the support arm, which can generate mechanical driving force when heated; a protection mechanism that can be movably sleeved outside the rotating joint; a cooling fan fixed inside the rotating joint, and the cooling fan is connected to a switch. Wherein, an air inlet is provided on the rotating joint, an air outlet is provided on the protection mechanism, and the protection mechanism has two moving limit positions close to or far from the rotating joint; the driving end of the heat-driven mechanism is connected to the protection mechanism and the switch of the cooling fan, and is used to push the protection mechanism to move away from the rotating joint direction and trigger the switch to start the cooling fan at high temperature. When the protection mechanism is at the limit position far from the rotating joint, both the air inlet and the air outlet are in an open state; when the protection mechanism is at the limit position close to the rotating joint, both the air inlet and the air outlet are in a closed state, the switch is separated from the driving force of the heat-driven mechanism, and the cooling fan is in a closed state.

[0005] In a feasible implementation manner, the heat-driven mechanism includes a medium cavity opened in the inner cavity of the support arm, and a thermal expansion liquid is filled in the medium cavity. The heat-driven mechanism further includes: an extension cavity, one end of which is connected to the medium cavity, and the other end extends into the inner cavity of the lower half of the rotating joint; a linear cavity, which is arranged in the inner wall of the rotating joint and is connected to the other end of the extension cavity; and a driving member, which is movably arranged in the inner cavity of the linear cavity.

[0006] In a feasible implementation manner, the rotating joint includes a fixedly arranged heat-insulating outer cylinder, and further includes: an air intake filter plate, which is arranged in the outer wall of the heat-insulating outer cylinder and is located between the two moving limit positions of the protection mechanism; a support outer cylinder, which is fixedly connected to the outer joint of the rotating joint; and an inner rotating shaft, which is rotatably arranged inside the support outer cylinder and is connected to another shaft arm.

[0007] In a feasible implementation manner, the protection mechanism includes: a moving sleeve, which is movably sleeved outside the outer wall of the heat-insulating outer cylinder; and a protection end plate, which is in a hollow state and is fixedly arranged at the end inside the moving sleeve away from the rotating joint.

[0008] In a feasible implementation manner, a cleaning scraping edge is further arranged at the inner edge position of the moving sleeve, and the cleaning scraping edge corresponds to the position of the air intake filter plate and is used for actively cleaning the dust on the surface of the air intake filter plate.

[0009] In a feasible implementation manner, the driving member includes: a sealing piston, which is movably arranged in the linear cavity along a linear direction; and an extension shaft, which is fixedly connected to the middle of the outer wall of the sealing piston away from the extension cavity, and the other end of the extension shaft is connected to the moving sleeve.

[0010] In a feasible implementation manner, the cooling fan includes: a fan frame, which is fixedly installed in the inner cavity of the heat-insulating outer cylinder and is located outside the end of the support outer cylinder; a plurality of fan blades, which are rotatably arranged in the fan frame; and a button, which is fixedly arranged on the switch, and the button faces the extension shaft.

[0011] In a feasible implementation manner, the protection end plate is provided with: a plurality of grid bars, which are evenly fixed in the hollow area of the protection end plate along the circumferential direction; a plurality of rib bars, which are fixedly connected between the plurality of grid bars; a shielding part, which can be deformed by force into a bent shape and a flat shape, and the shielding part is connected to the inner side of the plurality of grid bars in the protection end plate; and a connecting seat, which is fixedly arranged on the inner wall of the moving sleeve and is fixedly connected to the end of the extension shaft.

[0012] In a feasible implementation manner, a strip-shaped sliding groove is formed on the extension shaft, and the following are further arranged in the strip-shaped sliding groove: a bidirectional elastic moving seat, which is located at the middle position of the strip-shaped sliding groove and can elastically move bidirectionally along the strip-shaped sliding groove; an elastic telescopic convex seat, which is telescopically arranged on the outer wall of the bidirectional elastic moving seat, and the elastic telescopic convex seat is used to push the button.

[0013] In a feasible implementation manner, the shielding part includes two shielding sheets and an elastic bending shaft located between the two shielding sheets. For the elastic bending shaft, the edges of the two shielding sheets are arc-shaped and can slidably abut against at least one of the rib rods; an elastic support strip, which is arranged corresponding to the shielding part, one end of the elastic support strip is fixedly connected to the middle of the protective end plate, and the other end is connected between the two shielding sheets.

[0014] A robot arm assembly with an active cooling channel provided by the present application effectively applies the active heat dissipation and cooling method of thermal expansion linkage to the field of robot arms, realizing the automatic response and active adjustment of the temperature change of the robot arm. Specifically, the present invention utilizes the thermal expansion liquid arranged in the inner cavity of the arm. After being heated and expanded, it drives the sealing piston and the extension shaft to move, thereby driving the protective mechanism to automatically open the heat dissipation holes and start the heat dissipation fan, ensuring that an efficient heat dissipation channel is quickly formed inside the arm. At the same time, the shielding part in the protective mechanism designed by the present invention, through the cooperation with the abutting convex platform at the end of the heat insulation outer cylinder, realizes the precise automatic opening and closing of the heat dissipation holes, solving the problem of the lack of additional opening and closing power during the movement of the protective mechanism in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shows the structural schematic diagram of the robot arm assembly with an active cooling channel provided by the embodiment of the present application in the non-heated state; Figure 2 Shows the structural schematic diagram of the robot arm assembly with an active cooling channel provided by the embodiment of the present application in the heated state; Figure 3 Shows the structural schematic diagram of the heat-driven mechanism provided by the embodiment of the present application; Figure 4 Shows the structural schematic diagram of the protective end plate provided by the embodiment of the present application; Figure 5 Shows the position schematic diagram of the shielding part provided by the embodiment of the present application; Figure 6 Shows the structural schematic diagram of the rib rod provided by the embodiment of the present application; Figure 7 Shows the structural schematic diagram of the shielding part provided by the embodiment of the present application; Figure 8The structural schematic diagram of the elastic support bar provided by the embodiment of the present application is shown; Figure 9 The sectional structural schematic diagram of the robot arm assembly with an active cooling channel provided by the embodiment of the present application is shown; Figure 10 Shown is Figure 9 The partial enlarged structural schematic diagram of part A in Figure 11 The position schematic diagram of the bidirectional elastic moving seat provided by the embodiment of the present application is shown.

[0016] In the figure: 10, support arm; 20, heat-driven mechanism; 30, rotating joint; 40, protection mechanism, 21, extension cavity; 22, linear cavity; 23, driving member, 31, heat-insulating outer cylinder; 32, air intake filter plate; 33, cooling fan; 34, support outer cylinder; 35, inner rotating shaft, 41, moving sleeve; 42, protection end plate; 43, cleaning scraping edge, 231, sealing piston; 232, extension shaft, 331, fan frame; 332, fan blade; 333, switch; 334, button, 421, grid bar; 422, rib; 423, shielding part; 424, connecting seat, 2321, bidirectional elastic moving seat; 2322, elastic telescopic convex seat, 4231, elastic support bar; 4232, shielding piece; 4233, elastic bending shaft. Detailed implementation manners

[0017] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of this specification and the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. Without conflict, the technical features in the embodiments of this specification and the embodiments can be combined with each other.

[0018] In this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element. The term "more than two" includes two or more than two cases.

[0019] Please refer to Figures 1 to 11 As shown, an embodiment of the present application provides a robot arm assembly with an active cooling channel, including a support arm 10 and a rotating joint 30 provided on the support arm 10. The support arm 10 and the rotating joint 30 are further provided with: a heat-driven mechanism 20, a cooling fan 33 and a protection mechanism 40. Specifically, the heat-driven mechanism 20 is arranged in the inner cavity of the support arm 10 and can generate mechanical driving force after being heated; the protection mechanism 40 can be movably sleeved outside the rotating joint 30; the cooling fan 33 is fixed inside the rotating joint 30, and the cooling fan 33 is connected with a switch 333; an air inlet is arranged on the rotating joint 30, and an air outlet is arranged on the protection mechanism 40. The protection mechanism 40 has two moving limit positions close to or away from the rotating joint 30; the driving end of the heat-driven mechanism 20 is connected to the protection mechanism 40 and the switch 333 of the cooling fan 33, and is used to push the protection mechanism 40 to move away from the rotating joint 30 and trigger the switch 333 to start the cooling fan 33 at high temperature. When the protection mechanism 40 is in the limit position away from the rotating joint 30, both the air inlet and the air outlet are in an open state; when the protection mechanism 40 is in the limit position close to the rotating joint 30, both the air inlet and the air outlet are in a closed state, the switch 333 is disengaged from the driving force of the heat-driven mechanism 20, and the cooling fan 33 is in a closed state.

[0020] The robot arm assembly with an active cooling channel provided in this embodiment aims to solve the problem that the performance of the existing robot arm decreases or is damaged due to local high temperature under long-term or high-load working conditions. By integrating an actively responsive cooling mechanism, efficient thermal management of the arm assembly is achieved. It can automatically adjust the cooling state according to the actual working conditions to ensure the stable operation of the robot.

[0021] Specifically, the support arm 10 and the rotating joint 30 are the basic structures. The heat-driven mechanism 20 is arranged inside the cavity of the support arm 10, and its structure can be made of materials such as shape memory alloy, thermal expansion rod, thermal expansion liquid or bimetallic sheet with excellent thermal expansion and contraction performance. When the support arm 10 and the rotating joint 30 continuously heat up to the set threshold due to the working environment such as motors and loads, the heat-driven mechanism 20 can timely sense the temperature change and generate mechanical driving force by relying on thermal deformation.

[0022] On the one hand, this mechanical driving force is used to push the protection mechanism 40 to move from the limit position close to the rotating joint 30 to the limit position far from the rotating joint 30. On the other hand, it triggers the switch 333 of the cooling fan 33 located inside the rotating joint 30 through a linkage device or a direct driving method. When the protection mechanism 40 is not heat-driven, it is movably sleeved outside the rotating joint 30 and covers the air inlet and the air outlet, realizing the sealing and protection of the internal cooling channel and preventing dust and foreign objects from invading during the mechanical processing process; when the temperature rises, the protection mechanism 40 slides to the limit position far from the rotating joint 30 under the heat drive, actively opening the air inlet and the air outlet to form a cooling air flow channel.

[0023] At the same time, the heat-driven mechanism 20 pushes the switch 333 of the cooling fan 33 to close, starting the cooling fan 33. At this time, the external cold air is sucked in through the air inlet on the rotating joint 30, flows through the internal channel, takes away the accumulated heat, and is discharged through the air outlet at the end of the protection mechanism 40, realizing fast and effective active heat dissipation. When the temperature of the shaft arm returns to the safe range, the heat-driven mechanism 20 returns to its original state due to the temperature drop, the protection mechanism 40 resets to the limit position close to the rotating joint 30, automatically closing the air inlet and the air outlet, and the cooling fan 33 stops running, and the entire cooling channel is re-closed, which not only saves energy but also ensures the safety of the internal structure.

[0024] Through the automatic adjustment of mechanical thermal response, this implementation scheme not only improves the heat dissipation efficiency of the robot shaft arm assembly, but also has the advantages of simple structure, sensitive response, long service life, etc., and is suitable for robot systems with high temperature control requirements under various complex working conditions. It reduces unnecessary electrical signal integration layout, the overall technical solution is simple and easy to maintain, and at the same time realizes intelligent thermal management without manual intervention, providing a strong guarantee for the long-term stable operation of robot equipment.

[0025] Such as Figure 3 、 Figure 4 、 Figure 6 、 Figure 7 and Figure 9As shown, in some examples, further, the heat-driven mechanism 20 includes a medium cavity opened in the inner cavity of the support arm 10. The medium cavity is filled with a thermally expandable liquid (such as silicone oil). The heat-driven mechanism 20 further includes: an extension cavity 21, a linear cavity 22, and a driving member 23. One end of the extension cavity 21 is connected to the medium cavity, and the other end extends into the lower half inner cavity of the rotating joint 30; the linear cavity 22 is disposed in the inner wall of the rotating joint 30 and is connected to the other end of the extension cavity 21; the driving member 23 is movably disposed in the inner cavity of the linear cavity 22.

[0026] In this embodiment, the medium cavity is filled with a thermally expandable liquid (such as silicone oil). When the temperature of the support arm 10 or the surrounding environment rises, the thermally expandable liquid expands in volume due to heat, and the pressure is pushed to be transmitted along the extension cavity 21 communicating with it. One end of the extension cavity 21 is connected to the medium cavity to ensure that the expansion pressure can be efficiently transmitted to the required position. The linear cavity 22 is disposed inside the inner wall of the rotating joint 30 and is connected to the end of the extension cavity 21, serving as a guiding space for the driving member 23. The driving member 23 is slidably disposed in the linear cavity 22. Pushed by the expandable liquid in the medium cavity, it moves outward when the temperature rises, and then pushes the protection mechanism 40 to move to a position away from the rotating joint 30 and trigger the switch 333 of the cooling fan 33, realizing intelligent active heat dissipation control. When the temperature drops, the volume of the thermally expandable liquid shrinks, the driving member 23 resets, and the protection mechanism 40 and the cooling fan 33 return to the initial closed state, thus realizing the automatic cycle adjustment of the entire cooling system.

[0027] As Figure 3 , Figure 8 , Figure 9 and Figure 10 As shown, in some examples, further, the rotating joint 30 includes a fixed heat-insulating outer cylinder 31, and further includes: an air intake filter plate 32, a support outer cylinder 34, and an inner rotating shaft 35. The air intake filter plate 32 is disposed in the outer wall of the heat-insulating outer cylinder 31; and is located between the two moving limit positions of the protection mechanism 40; the support outer cylinder 34 is fixedly connected to the outer joint of the rotating joint 30; the inner rotating shaft 35 is rotatably disposed inside the support outer cylinder 34 and is connected to another shaft arm.

[0028] In this embodiment, the heat-insulating outer cylinder 31 serves as the outer protective structure of the rotating joint 30, which can effectively isolate the external direct radiation heat and improve the overall thermal management performance; the air intake filter plate 32 is installed on the outer wall of the heat-insulating outer cylinder 31, between the two moving limit positions of the protection mechanism 40, and is used to filter the air entering the channel, prevent dust and impurities from entering the cooling system, and ensure the cleanliness of the entering cooling air flow. The inner rotating shaft 35 can rotate relative to the supporting outer cylinder 34 and is connected to another shaft arm to realize the flexible movement of the robot joint part carrying this structure. Through this structural design, the rotating joint 30 has both high mechanical strength and motion performance, and also has the functions of efficient heat dissipation and internal protection.

[0029] As Figures 3 to 10 shown, in some examples, further, the protection mechanism 40 includes: a moving sleeve 41 and a protection end plate 42. The moving sleeve 41 is movably sleeved outside the outer wall of the heat-insulating outer cylinder 31; the protection end plate 42 is in a hollow state and is fixedly arranged inside the end of the moving sleeve 41 on the side far from the rotating joint 30.

[0030] In this embodiment, the protection mechanism 40 includes a moving sleeve 41 and a protection end plate 42. The moving sleeve 41 can move freely along the outer wall of the heat-insulating outer cylinder 31 in the axial direction, which not only plays an external protection role but also facilitates the opening and closing of the cooling channel; the protection end plate 42 adopts a hollow structure and is fixedly arranged inside the end of the moving sleeve 41 on the side far from the rotating joint 30. Its hollow design helps to achieve smooth air flow discharge when the protection mechanism 40 moves to the heat dissipation opening position, and at the same time forms an effective shielding and protection for the inner cavity when the moving sleeve 41 is in the closed position. This structure not only enhances the functional diversity of the protection mechanism 40 but also ensures the efficient switching and reliable sealing between heat dissipation and protection of the shaft arm assembly.

[0031] As Figure 5 shown, in some examples, further, a cleaning scraping edge 43 is also arranged at the inner edge position of the moving sleeve 41. The cleaning scraping edge 43 corresponds to the position of the air intake filter plate 32 and is used to actively clean the dust on the surface of the air intake filter plate 32.

[0032] In this embodiment, a cleaning scraping edge 43 is added at the inner edge position of the moving sleeve 41, and the cleaning scraping edge 43 corresponds to the position of the air intake filter plate 32. When the moving sleeve 41 slides axially along the heat-insulating outer cylinder 31, the cleaning scraping edge 43 can be in close contact with the surface of the air intake filter plate 32, and the dust and impurities on the surface of the air intake filter plate 32 can be actively scraped and cleaned through its moving stroke, thereby effectively preventing the filter plate from being blocked, ensuring the smoothness of the air intake channel and the long-term efficient operation of the cooling system. This structural design significantly improves the self-maintenance ability of the robot shaft arm assembly.

[0033] AsFigure 8 , Figure 10 and Figure 11 As shown in Figure 8 , Figure 10 and Figure 11 , in some examples, further, the driving member 23 includes a sealing piston 231 and an extension shaft 232. The sealing piston 231 is arranged in the linear cavity 22 so as to be movable in a linear direction; the extension shaft 232 is fixedly connected to the middle of the outer wall of the sealing piston 231 on the side away from the extension cavity 21, and the other end of the extension shaft 232 is connected to the moving sleeve 41.

[0034] In this embodiment, the driving member 23 is composed of a sealing piston 231 and an extension shaft 232. The sealing piston 231 can slide in the linear cavity 22 in a linear direction, for responding to the pressure of the thermally expandable liquid and achieving efficient sealing. One end of the extension shaft 232 is fixedly connected to the middle of the outer wall of the sealing piston 231 on the side away from the extension cavity 21, and the other end is connected to the moving sleeve 41. When the thermally expandable liquid in the medium cavity expands due to heat, it pushes the sealing piston 231 to move outward in the linear cavity 22, and then drives the moving sleeve 41 to move along the outer wall of the heat insulation outer cylinder 31 through the extension shaft 232, completing the opening and closing actions of the protection mechanism 40. The automatic switching of the protection mechanism 40 and the synchronous linkage of the opening and closing of the cooling mechanism are realized.

[0035] As Figure 10 shown, in some examples, further, the heat dissipation fan 33 includes a fan frame 331, a plurality of fan blades 332 and a button 334. The fan frame 331 is fixedly installed in the inner cavity of the heat insulation outer cylinder 31 and is located outside the end of the support outer cylinder 34; the plurality of fan blades 332 are rotatably arranged in the fan frame 331; the button 334 is fixedly arranged on the switch 333, and the button 334 faces the extension shaft 232.

[0036] In this embodiment, the heat dissipation fan 33 is composed of a fan frame 331, a plurality of fan blades 332 and a button 334. The fan frame 331 is fixedly installed in the inner cavity of the heat insulation outer cylinder 31 and is located outside the end of the support outer cylinder 34, providing a stable installation basis for the heat dissipation fan 33. The plurality of fan blades 332 can rotate freely in the fan frame 331 for realizing efficient air flow circulation. The button 334 is fixedly arranged at a position connected to the fan circuit switch 333, and it faces the extension shaft 232. When the moving sleeve 41 or the extension shaft 232 moves in place, it can be directly pressed to realize the automatic start and stop of the fan. The heat dissipation fan 33 realizes the linkage control with the action of the protection mechanism 40, effectively improving the automation level of the robot arm assembly.

[0037] As Figure 4 , Figure 6 and Figure 7As shown, in some examples, further, the protective end plate 42 is provided with: a plurality of grid bars 421, a plurality of rib bars 422, an occlusion part 423, and a connection seat 424. The plurality of grid bars 421 are evenly fixed in the hollow area of the protective end plate 42 at equal intervals along the circumferential direction; the plurality of rib bars 422 are fixedly connected between the plurality of grid bars 421; the occlusion part 423 can be deformed by force into a bent shape and a flat shape, and the occlusion part 423 is connected to the inner sides of the plurality of grid bars 421 within the protective end plate 42; the connection seat 424 is fixedly arranged on the inner wall of the moving sleeve 41 and is fixedly connected to the end of the extension shaft 232.

[0038] In this embodiment, the plurality of grid bars 421 are evenly distributed and fixed in the hollow area of the protective end plate 42 at equal intervals along the circumferential direction, playing the role of air flow guidance and structural strengthening; the plurality of rib bars 422 are horizontally connected between the respective grid bars 421 to further enhance the overall rigidity of the end plate. The occlusion part 423 is connected to the inner sides of the plurality of grid bars 421 within the protective end plate 42, and its body can be bent or deformed flat according to the force situation, so as to adjust the opening or closing of the air flow channel under different working conditions, taking into account the ventilation and protection requirements. The connection seat 424 is firmly arranged on the inner wall of the moving sleeve 41 and is fixedly connected to the end of the extension shaft 232 to achieve the power transmission between the heat-driven mechanism 20 and the protective end plate 42. The above structures cooperate with each other to effectively improve the air flow regulation ability and safety protection performance of the robot arm assembly.

[0039] As Figure 11 shown, in some examples, further, a strip-shaped chute is formed in the extension shaft 232, and the strip-shaped chute is further provided with: a bidirectional elastic moving seat 2321 and an elastic telescopic convex seat 2322. The bidirectional elastic moving seat 2321 is located at the middle position of the strip-shaped chute and can move elastically in both directions along the strip-shaped chute; the elastic telescopic convex seat 2322 is telescopically arranged on the outer wall of the bidirectional elastic moving seat 2321, and the elastic telescopic convex seat 2322 is used to push the button 334.

[0040] In this embodiment, a strip-shaped chute is formed on the extension shaft 232, and a bidirectional elastic moving seat 2321 and an elastic telescopic convex seat 2322 are arranged in the strip-shaped chute. The bidirectional elastic moving seat 2321 is located at the middle position of the strip-shaped chute. Springs abutting against both ends of the inner wall of the strip-shaped chute are arranged at both ends of the bidirectional elastic moving seat 2321, so that the bidirectional elastic moving seat 2321 can move elastically in both directions along the strip-shaped chute. The elastic telescopic convex seat 2322 is telescopically installed on the outer wall of the bidirectional elastic moving seat 2321 and is used to push the fan button 334 when the extension shaft 232 moves to a predetermined position. Through this structural design, when the heat driving force has not reached a certain threshold, the elastic telescopic convex seat 2322 will not push the button 334, avoiding the phenomenon that the fan starts and stops frequently when the thrust is close to the action critical value of the proximity switch 333. Only when the driving force exceeds the set range, pushing the bidirectional elastic moving seat 2321 to undergo a sufficient displacement and driving the elastic telescopic convex seat 2322 to press against the button 334, the fan will be reliably turned on or off, thus realizing the interval trigger of the fan action.

[0041] As Figure 8 shown, in some examples, further, the shielding portion 423 includes two shielding pieces 4232 and an elastic bending shaft 4233 located between the two shielding pieces 4232. The elastic bending shaft 4233, the edges of the two shielding pieces 4232 are arc-shaped and can slidably abut against at least one rib 422; the elastic support strips 4231 are arranged corresponding to the shielding portions 423 one by one. One end of the elastic support strip 4231 is fixedly connected to the middle of the protective end plate 42, and the other end is connected between the two shielding pieces 4232.

[0042] In this embodiment, the shielding portion 423 includes two shielding plates 4232 and an elastic bending shaft 4233 located therebetween. The outer edges of the two shielding plates 4232 are arc-shaped and can be slidably abutted against the inner outer walls of the rib rods 422 corresponding to their respective positions, so that the shielding plates 4232 follow the contraction of the movable sleeve 41 and gradually realize closed switching under the action of the force abutting against the outer end surface of the insulating outer cylinder 31. The elastic bending axis 4233 serves as the middle fulcrum connecting the two shielding pieces 4232, so that the shielding part 423 can be flexibly bent and deformed during the displacement process, thereby adjusting the opening of the air flow channel. The elastic bending axis 4233 is an elastic deformable material, so that the two shielding pieces 4232 in the entire shielding part 423 remain in a bent state when not subjected to external force. That is to say, when the shielding piece 4232 is in a sealed state, the elastic bending axis 4233 is in a deformed state. Once the shielding piece 4232 has space to move, the shielding piece 4232 avoids and gives up the heat dissipation hole under the drive of the elastic bending axis 4233. On the contrary, when the shielding piece 4232 is moving, it contacts and limits the fan frame 331 or other structures, thereby deforming again, causing the shielding piece 4232 to flatten and seal the heat dissipation hole. At the same time, each shielding part 423 is equipped with an elastic support strip 4231, one end of the elastic support strip 4231 is fixed to the middle of the protective end plate 42, and the other end is connected between the two shielding pieces 4232, providing continuous elastic restoring force for the shielding part 423 and fixing the position of the shielding part 423, guiding the shielding piece 4232 to be in the correct working position during the process of opening and closing deformation, and finally ensuring that all the shielding pieces 4232 form a complete closed cover.

[0043] In some examples, further, in order to achieve reliable resetting of the sealing piston 231, a return spring (not shown) is optionally provided on the side of the sealing piston 231 in the linear cavity 22 away from the extension cavity 21, and one end of the return spring is against the end face of the sealing piston 231 away from the extension cavity 21. When the thermal expansion liquid is heated, the sealing piston 231 overcomes the elastic force of the return spring and moves outward, pushing the extension shaft 232 to open the heat dissipation structure; when the temperature drops and the thermal expansion liquid shrinks, the return spring automatically pushes the sealing piston 231 to return to its initial position, realizing the closing action of the heat dissipation hole and the fan, thereby realizing the automatic reciprocating action of the heat drive mechanism 20.

[0044] The following is an explanation of the overall working process and principle of this device: When the robot arm is in a high-intensity or long-term working environment, the support arm 10 and the rotating joint 30 gradually increase in temperature due to continuous operation, and the internal lubricating oil is prone to emulsification. The heat-driven mechanism 20 in the inner cavity of the support arm 10 then senses the rising heat. After the thermally expandable liquid inside the heat-driven mechanism 20 expands due to heat, it transmits pressure along the extension cavity 21 and the linear cavity 22, pushing the sealing piston 231 in the linear cavity 22 and its connected extension shaft 232 to move outward. The movement of the extension shaft 232 drives the moving sleeve 41 to slide along the outer wall of the heat-insulating outer cylinder 31. At the same time, through the structure of the bidirectional elastic moving seat 2321 and the elastic telescopic convex seat 2322 in the strip-shaped chute, the reliable triggering of the fan switch 333 is achieved. Only when the thrust exceeds a predetermined threshold, the elastic telescopic convex seat 2322 will press against the button 334, avoiding frequent start-stop of the fan at the thermal critical value. The movement of the moving sleeve 41 gradually moves the protection mechanism 40 away from the rotating joint 30 end, driving the protection end plate 42 to leave and gradually form the air inlet and outlet of the heat dissipation air duct, realizing the opening of the cooling air flow channel. At this time, the multiple grid bars 421 and rib rods 422 on the protection end plate 42 ensure smooth air flow, and the built-in shielding part 423 deforms under the guidance of the elastic support bar 4231 and the action of the elastic bending shaft 4233, exposing the air outlet in front of the fan. When the moving sleeve 41 moves, the air inlet filter plate 32 is also exposed. The cleaning scraping edge 43 at the edge of the moving sleeve 41 automatically cleans the dust on the surface of the air inlet filter plate 32 during its movement, preventing the filter plate from being blocked and pushing the dust away from the air inlet filter plate 32 of the device. At the same time, the switch 333 of the cooling fan 33 is pressed and triggered to start, driving the external cold air to enter the inner cavity through the air inlet. The cooling air flow flows along the channel, quickly taking away the accumulated heat and discharging it through the air outlet of the protection mechanism 40. After the temperature drops, the volume of the thermally expandable liquid shrinks, the driving force gradually decreases, the sealing piston 231 and the extension shaft 232 reset, driving the moving sleeve 41 back to the initial position close to the rotating joint 30. The air inlet and outlet are closed again, the shielding part 423 returns to the closed state under the action of the elastic support bar 4231, the fan switch 333 is disconnected, and the entire cooling channel is closed. The arm assembly returns to the standby or heat preservation state again. This device realizes efficient, intelligent, and reliable temperature control management and self-maintenance of the robot arm through mechanical and thermal coupling adaptive actions without additional electronic control signals.

[0045] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A robot arm assembly with an active cooling channel, comprising a support arm (10) and a rotating joint (30) provided on the support arm (10), characterized in that, The support arm (10) and the rotating joint (30) are also provided with: A heat-driven mechanism (20) is arranged in the inner cavity of the support arm (10) and can generate mechanical driving force after being heated; A protection mechanism (40) is movably sleeved outside the rotating joint (30); A cooling fan (33) is fixed inside the rotating joint (30), and the cooling fan (33) is connected with a switch (333); Wherein, an air inlet is arranged on the rotating joint (30), an air outlet is arranged on the protection mechanism (40), and the protection mechanism (40) has two moving limit positions close to or far away from the rotating joint (30); The driving end of the heat-driven mechanism (20) is connected to the protection mechanism (40) and the switch (333) of the cooling fan (33), and is used to push the protection mechanism (40) to move away from the rotating joint (30) and trigger the switch (333) to start the cooling fan (33) at high temperature. When the protection mechanism (40) is at the limit position far away from the rotating joint (30), both the air inlet and the air outlet are in an open state; When the protection mechanism (40) is at the limit position close to the rotating joint (30), both the air inlet and the air outlet are in a closed state, the switch (333) is disengaged from the driving force of the heat-driven mechanism (20), and the cooling fan (33) is in a closed state.

2. The robot arm assembly with an active cooling channel according to claim 1, wherein: The heat-driven mechanism (20) includes a medium cavity opened in the inner cavity of the support arm (10), and the medium cavity is filled with a thermally expandable liquid; The heat-driven mechanism (20) further includes: An extension cavity (21) has one end connected to the medium cavity and the other end extending into the inner cavity of the lower half of the rotating joint (30); A linear cavity (22) is arranged in the inner wall of the rotating joint (30) and is connected to the other end of the extension cavity (21); A driving member (23) is movably arranged in the inner cavity of the linear cavity (22).

3. The robotic arm assembly with an active cooling channel according to claim 2, characterized in that: The rotating joint (30) includes a fixed heat-insulating outer cylinder (31), and further includes: An air inlet filter plate (32) is arranged in the outer wall of the heat-insulating outer cylinder (31) and is located between the two moving limit positions of the protection mechanism (40); A support outer cylinder (34) is fixedly connected to the outer joint of the rotating joint (30); An inner rotating shaft (35) is rotatably arranged inside the support outer cylinder (34) and is connected to another arm.

4. A robotic arm assembly with an active cooling channel according to claim 3, characterized in that: The protection mechanism (40) includes: A moving sleeve (41) is movably sleeved outside the outer wall of the heat-insulating outer cylinder (31); A protection end plate (42) is in a hollow state and is fixedly arranged at the end inside the moving sleeve (41) on the side far away from the rotating joint (30).

5. The robot arm assembly with an active cooling channel according to claim 4, wherein: A cleaning scraping edge (43) is further arranged at the inner edge position of the moving sleeve (41), and the cleaning scraping edge (43) corresponds to the position of the air intake filter plate (32) for actively cleaning the dust on the surface of the air intake filter plate (32).

6. The robot arm assembly with an active cooling channel according to claim 4, wherein: The driving member (23) includes: A sealing piston (231) which is arranged in the linear cavity (22) and can move along a linear direction; An extension shaft (232) which is fixedly connected to the middle of the outer wall of the sealing piston (231) on the side far from the extension cavity (21), and the other end of the extension shaft (232) is connected to the moving sleeve (41).

7. The robot arm assembly with an active cooling channel according to claim 6, characterized in that: The heat dissipation fan (33) includes: A fan frame (331) which is fixedly installed in the inner cavity of the heat insulation outer cylinder (31) and is located outside the end of the support outer cylinder (34); A plurality of fan blades (332) which are rotatably arranged in the fan frame (331); A button (334) which is fixedly arranged on the switch (333), and the button (334) faces the extension shaft (232).

8. A robotic arm shaft assembly with an active cooling channel according to claim 7, characterized in that: The protective end plate (42) is provided with: A plurality of grid bars (421) which are evenly fixed in the hollow area of the protective end plate (42) along the circumferential direction; A plurality of rib rods (422) which are fixedly connected between the plurality of grid bars (421); A shielding part (423) which can be deformed into a bent shape and a flat shape under force, and the shielding part (423) is connected to the inner side of the plurality of grid bars (421) in the protective end plate (42); A connecting seat (424) which is fixedly arranged on the inner wall of the moving sleeve (41) and is fixedly connected to the end of the extension shaft (232).

9. The robotic arm shaft assembly with an active cooling channel according to claim 8, wherein: A strip-shaped chute is formed on the extension shaft (232), and the strip-shaped chute is further provided with: A bidirectional elastic moving seat (2321) which is located in the middle of the strip-shaped chute and can move elastically in both directions along the strip-shaped chute; An elastic telescopic convex seat (2322) which is telescopically arranged on the outer wall of the bidirectional elastic moving seat (2321), and the elastic telescopic convex seat (2322) is used to push the button (334).

10. The robot arm assembly with an active cooling channel according to claim 8, characterized in that: The shielding part (423) includes two shielding sheets (4232) and an elastic bending shaft (4233) located between the two shielding sheets (4232). For the elastic bending shaft (4233), the edges of the two shielding sheets (4232) are arc-shaped and can slidably abut against at least one of the rib rods (422); Elastic support bars (4231) which are arranged corresponding to the shielding part (423), one end of the elastic support bar (4231) is fixedly connected to the middle of the protective end plate (42), and the other end is connected between the two shielding sheets (4232).

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