A robot shaft arm assembly with active cooling channels

Abstract

The application relates to the technical field of robot shaft arms, and particularly discloses a robot shaft arm assembly with an active cooling channel, which comprises a supporting arm and a rotating joint arranged on the supporting arm. A heat-driven mechanism is arranged in the inner cavity of the supporting arm, and a protection mechanism is movably sleeved on the outer side of the rotating joint. A heat dissipation fan is fixed on the inner side of the rotating joint, and the heat dissipation fan is connected with a switch. An air inlet is arranged on the rotating joint, and an air outlet is arranged on the protection mechanism. The application realizes automatic response to temperature change, has the advantages of simple structure, convenient maintenance and active cooling effect without additional electric control signals.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robot shaft arms, in particular to a robot shaft arm assembly with an active cooling channel. BACKGROUND

[0002] With the rapid development of industrial automation and intelligent manufacturing, robot devices are increasingly applied to complex working conditions such as high load, high strength and long cycle. As an important transmission and execution component of a mechanical system, a robot shaft arm is prone to local overheating due to poor heat dissipation of a driving motor and a joint mechanism during continuous operation, which leads to emulsification of lubricating oil, aggravation of component wear and even causes system failure or performance degradation. The common cooling methods at present mostly rely on passive heat dissipation or external electrically controlled fan means, which are not only complex in structure and cumbersome to maintain, but also need to be arranged with multiple electric signals and temperature sensing elements, so that independent and automatic heat dissipation adjustment of each joint is difficult to achieve, and problems such as response lag, high energy consumption and insufficient reliability exist. Therefore, it is of great significance to develop an active cooling device which can automatically respond to temperature changes, has a simple structure, is easy to maintain and does not require additional electric control signals, for improving the safety and reliability of the overall operation of a robot. SUMMARY

[0003] The application provides a robot shaft arm assembly with an active cooling channel, which mainly aims to realize the active cooling effect of automatically responding to temperature changes, having a simple structure, being easy to maintain and not requiring additional electric control signals.

[0004] To achieve the above-mentioned purpose, the application provides a robot shaft arm assembly with an active cooling channel, which comprises a support arm and a rotating joint arranged on the support arm. A heat-activated driving mechanism is arranged in the inner cavity of the support arm and can generate a mechanical driving force after being heated. A protection mechanism is movably sleeved on the outer side of the rotating joint. A cooling fan is fixed on the inner side of the rotating joint and is connected with a switch. An air inlet is arranged on the rotating joint, and an air outlet is arranged on the protection mechanism. The protection mechanism has two movement limit positions close to or away from the rotating joint. The driving end of the heat-activated driving mechanism is connected to the switch of the protection mechanism and the cooling fan, and is used for pushing the protection mechanism to move away from the rotating joint and triggering the switch to start the cooling fan at high temperature. When the protection mechanism is at the limit position away from the rotating joint, the air inlet and the air outlet are both in an open state. When the protection mechanism is at the limit position close to the rotating joint, the air inlet and the air outlet are both in a closed state, the switch is disconnected from the driving force of the heat-activated driving mechanism, and the cooling fan is in a closed state.

[0005] In an embodiment, the heat-activated driving mechanism comprises a medium cavity in the inner cavity of the support arm, the medium cavity is filled with a thermal expansion liquid, the heat-activated driving mechanism further comprises an extension cavity connected to one end of the medium cavity and extending into the inner cavity of the lower half of the rotary joint, a linear cavity arranged in the inner wall of the rotary joint and connected to the other end of the extension cavity, and a driving member movably arranged in the inner cavity of the linear cavity.

[0006] In an embodiment, the rotary joint comprises a fixed heat-insulating outer cylinder, further comprising an air inlet filter plate arranged in the outer wall of the heat-insulating outer cylinder and located between the two movement limit positions of the protection mechanism, a support outer cylinder fixedly connected to the outer joint of the rotary joint, and an inner rotary shaft rotatably arranged on the inner side of the support outer cylinder and connected to the other shaft arm.

[0007] In an embodiment, the protection mechanism comprises a movable sleeve arranged on the outer side of the outer wall of the heat-insulating outer cylinder, and a protection end plate in a hollow state fixedly arranged in the end of the movable sleeve away from the rotary joint.

[0008] In an embodiment, the inner side edge of the movable sleeve is further provided with a cleaning scraping edge corresponding to the position of the air inlet filter plate, for actively cleaning the dust on the surface of the air inlet filter plate.

[0009] In an embodiment, the driving member comprises a sealing piston movably arranged in the linear cavity, an extension shaft fixedly connected to the middle part 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 movable sleeve.

[0010] In an embodiment, the heat-dissipating fan comprises a fan frame fixedly installed in the inner cavity of the heat-insulating outer cylinder and located on the outer side of the end of the support outer cylinder, a plurality of fan blades rotatably arranged in the fan frame, and a button fixedly arranged on the switch and facing the extension shaft.

[0011] In an embodiment, the protection end plate is provided with a plurality of grid bars fixedly arranged in the hollow area of the protection end plate at equal intervals in the circumferential direction, a plurality of rib rods fixedly connected between the grid bars, a shielding part capable of being deformed into a bent shape and a flat shape under force, and a connecting seat fixedly arranged on the inner wall of the movable sleeve and fixedly connected to the end of the extension shaft.

[0012] In an implementable embodiment, a strip-shaped sliding groove is formed on the extension shaft, and a bidirectional elastic moving seat is arranged in the strip-shaped sliding groove, located at the middle of the strip-shaped sliding groove and capable of moving bidirectionally and elastically along the strip-shaped sliding groove; an elastic telescopic convex seat is arranged on the outer wall of the bidirectional elastic moving seat in a telescopic manner, and the elastic telescopic convex seat is used for pushing the button.

[0013] In an implementable embodiment, the shielding part includes two shielding pieces and an elastic bending shaft between the two shielding pieces, the edge of each of the two shielding pieces is arc-shaped, and the two shielding pieces are capable of slidingly abutting on at least one rib; an elastic supporting strip is arranged in one-to-one correspondence with the shielding part, one end of the elastic supporting strip is fixedly connected to the middle of the protective end plate, and the other end of the elastic supporting strip is connected between the two shielding pieces.

[0014] The application provides a robot shaft arm assembly with an active cooling channel. The application effectively applies the heat expansion linkage type active cooling method to the field of robot shaft arms, and realizes automatic response and active adjustment of temperature changes of the robot shaft arm. Specifically, the application uses a heat expansion liquid arranged in the inner cavity of the shaft arm to drive the sealing piston and the extension shaft to move after thermal expansion, thereby driving the protection mechanism to automatically open the cooling holes and start the cooling fan, and ensuring that an efficient cooling channel is quickly formed inside the shaft arm. Meanwhile, the shielding part in the protection mechanism cooperates with the abutting boss at the end of the heat insulation outer cylinder to realize precise automatic opening and closing of the cooling holes, and solves the problem of lack of additional opening and closing power during movement of the protection mechanism in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A structure schematic diagram of a robot shaft arm assembly with an active cooling channel in a non-heated state is shown.

[0016] Figure 2 A structure schematic diagram of a robot shaft arm assembly with an active cooling channel in a heated state is shown.

[0017] Figure 3 A structure schematic diagram of a robot shaft arm assembly with a heated driving mechanism is shown.

[0018] Figure 4 A structure schematic diagram of a protective end plate is shown.

[0019] Figure 5 A position schematic diagram of a shielding part is shown.

[0020] Figure 6 A structure schematic diagram of a rib is shown.

[0021] Figure 7 A structure schematic diagram of the shielding part provided by the embodiment of the present application is shown;

[0022] Figure 8 A structure schematic diagram of the elastic support strip provided by the embodiment of the present application is shown;

[0023] Figure 9 A sectional structure schematic diagram of the robot shaft arm assembly with active cooling channel provided by the embodiment of the present application is shown;

[0024] Figure 10 A structure schematic diagram of the local enlargement at A in Figure 9 is shown;

[0025] Figure 11 A position schematic diagram of the bidirectional elastic moving seat provided by the embodiment of the present application is shown.

[0026] In the figure: 10, support arm, 20, heat-driven mechanism, 30, rotating joint, 40, protection mechanism,

[0027] 21, extension cavity, 22, linear cavity, 23, driving piece,

[0028] 31, heat-insulating outer cylinder, 32, air inlet filter plate, 33, heat dissipation fan, 34, support outer cylinder, 35, inner rotating shaft,

[0029] 41, moving sleeve, 42, protection end plate, 43, cleaning scraping edge,

[0030] 231, sealing piston, 232, extension shaft,

[0031] 331, fan frame, 332, fan blade, 333, switch, 334, button,

[0032] 421, grid bar, 422, rib rod, 423, shielding part, 424, connecting seat,

[0033] 2321, bidirectional elastic moving seat, 2322, elastic telescopic convex seat,

[0034] 4231, elastic support strip, 4232, shielding piece, 4233, elastic bending shaft. DETAILED DESCRIPTION

[0035] In order to better understand the technical solutions provided by the embodiments of the present application, the technical solutions of the embodiments of the present application are described in detail below with the aid of the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present application and the embodiments are detailed descriptions of the technical solutions of the embodiments of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0036] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. The terms "two or more" and "two or more than two" include both two and more than two entities.

[0037] Referring to Figures 1 to 11 As shown in the drawings, the robot shaft arm assembly with active cooling channel provided by the embodiment of the present application comprises a support arm 10 and a rotating joint 30 arranged on the support arm 10, and the support arm 10 and the rotating joint 30 are further provided with a heat-activated driving mechanism 20, a cooling fan 33 and a protection mechanism 40,

[0038] Specifically, the heat-activated driving 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 is movably sleeved on the outer side of the rotating joint 30; the cooling fan 33 is fixed on the inner side of the rotating joint 30 and is connected with a switch 333; the rotating joint 30 is provided with an air inlet, the protection mechanism 40 is provided with an air outlet, and the protection mechanism 40 has two movement limit positions close to or away from the rotating joint 30; the driving end of the heat-activated driving mechanism 20 is connected to the protection mechanism 40 and the switch 333 of the cooling fan 33, for pushing the protection mechanism 40 to move away from the rotating joint 30 and triggering the switch 333 to start the cooling fan 33 at high temperature; when the protection mechanism 40 is at the limit position away from the rotating joint 30, the air inlet and the air outlet are both in an open state; when the protection mechanism 40 is at the limit position close to the rotating joint 30, the air inlet and the air outlet are both in a closed state, the switch 333 is disconnected from the driving force of the heat-activated driving mechanism 20, and the cooling fan 33 is in a closed state.

[0039] The robot shaft arm assembly with active cooling channel provided by the embodiment aims to solve the problem that the existing robot shaft arm is damaged or its performance is reduced due to local high temperature under long-time or high-load working conditions, and realizes efficient thermal management of the shaft arm assembly by integrating the actively responsive cooling mechanism. The cooling state can be automatically adjusted according to the actual working condition to ensure the stable operation of the robot.

[0040] Specifically, the support arm 10 and the rotating joint 30 are the basic structure. The heat-activated driving mechanism 20 is arranged in the inner cavity of the support arm 10, which can be made of materials with excellent thermal expansion and contraction performance, such as shape memory alloy, thermal expansion rod, thermal expansion liquid or bimetallic strip. When the support arm 10 and the rotating joint 30 continue to heat up to the set threshold due to the working environment of the motor, load and the like, the heat-activated driving mechanism 20 can timely sense the temperature change and generate a mechanical driving force through thermal induced deformation.

[0041] The 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 away from the rotating joint 30, and on the other hand, trigger the cooling fan 33 switch 333 inside the rotating joint 30 through linkage or direct driving mode. When the protection mechanism 40 is not heat-activated, it is sleeved outside the rotating joint 30 and covers the air inlet and air outlet, realizing the sealing and protection of the internal cooling channel and avoiding dust and foreign matter from invading during the machining process; when the temperature rises, the protection mechanism 40 slides to the limit position away from the rotating joint 30 under the heat-activated driving, and actively opens the air inlet and air outlet to form a cooling air flow channel.

[0042] At the same time, the heat-activated driving mechanism 20 pushes the cooling fan 33 switch 333 to close and starts 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, carries away the accumulated heat, and is discharged through the air outlet at the end of the protection mechanism 40, realizing rapid and effective active cooling. When the shaft arm temperature returns to the safe range, the heat-activated driving mechanism 20 returns to the original state due to the temperature decrease, the protection mechanism 40 is reset to the limit position close to the rotating joint 30, the air inlet and air outlet are automatically closed, the cooling fan 33 stops running, and the whole cooling channel is resealed, which not only saves energy consumption, but also ensures the safety of the internal structure.

[0043] The embodiment realizes automatic adjustment through mechanical thermal response, which not only improves the cooling efficiency of the robot shaft arm assembly, but also has the advantages of simple structure, sensitive response and long service life, and is suitable for robot systems with high requirements for temperature control in various complex working conditions. Reducing unnecessary electrical signal integration arrangement, the overall technical scheme is simple and easy to maintain, and realizes intelligent heat management without manual intervention, which provides a strong guarantee for the long-term stable operation of the robot equipment.

[0044] As Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 9As shown, in some examples, further, the heated drive mechanism 20 includes a medium cavity opened in the inner cavity of the support arm 10, and the medium cavity is filled with a thermal expansion liquid (such as silicone oil). The heated drive mechanism 20 also 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 to the lower half of the inner cavity of the rotating joint 30; the 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; the driving member 23 is movably arranged in the inner cavity of the linear cavity 22.

[0045] In this embodiment, the dielectric cavity is filled with a thermal expansion liquid (e.g., silicone oil). When the temperature of the support arm 10 or the surrounding environment rises, the thermal expansion liquid expands due to the heat, pushing pressure along the extension cavity 21 connected thereto. One end of the extension cavity 21 is connected to the dielectric cavity, ensuring that the expansion pressure can be efficiently transmitted to the desired location. The linear cavity 22 is disposed within the inner wall of the rotating joint 30 and communicates with the end of the extension cavity 21, serving as a guide space for the driver 23. The driver 23 is slidably disposed within the linear cavity 22. Driven by the expanding liquid within the dielectric cavity, it moves outward when the temperature rises, thereby pushing the protective mechanism 40 away from the rotating joint 30 and triggering the switch 333 of the cooling fan 33, thereby achieving intelligent active heat dissipation control. When the temperature drops, the thermal expansion liquid shrinks in volume, the driver 23 resets, and the protective mechanism 40 and cooling fan 33 return to their initial off state, thereby achieving automatic circulation regulation of the entire cooling system.

[0046] like Figure 3 、 Figure 8 、 Figure 9 and Figure 10 As shown, in some examples, further, the rotating joint 30 includes a fixedly installed heat-insulating outer cylinder 31, and also includes: an air intake filter plate 32, a supporting outer cylinder 34 and an inner rotating shaft 35, the air intake 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 protective mechanism 40; the supporting outer cylinder 34 is fixedly connected to the outer joint of the rotating joint 30; the inner rotating shaft 35 is rotatably arranged on the inner side of the supporting outer cylinder 34, and is connected to another shaft arm.

[0047] In the embodiment, the heat insulation outer cylinder 31 serves as an outer layer protection structure of the rotating joint 30, which can effectively insulate external direct radiant heat and improve the overall thermal management performance; the air inlet filter plate 32 is installed on the outer wall of the heat insulation outer cylinder 31 and located between the two moving limit positions of the protection mechanism 40, which is used to filter the air entering the channel and prevent dust and impurities from entering the cooling system, thereby ensuring the cleanliness of the incoming cooling airflow. The inner rotating shaft 35 can rotate relative to the support outer cylinder 34 and is connected to another shaft arm, thereby realizing flexible movement of the robot joint part carrying the structure. Through the structure design, the rotating joint 30 has good mechanical strength and movement performance, and also has high-efficiency heat dissipation and internal protection functions.

[0048] As shown in Figures 3 to 10 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 insulation outer cylinder 31, and the protection end plate 42 is in a hollow state and is fixedly arranged in the end portion of the moving sleeve 41 away from the rotating joint 30.

[0049] In the embodiment, the protection mechanism 40 includes the moving sleeve 41 and the protection end plate 42, the moving sleeve 41 is freely movable along the outer wall of the heat insulation outer cylinder 31 in the axial direction, which plays an external protection role and facilitates opening and closing of the cooling channel; the protection end plate 42 is in a hollow structure and is fixedly arranged in the end portion of the moving sleeve 41 away from the rotating joint 30, the hollow design of the protection end plate 42 helps smooth airflow discharge when the protection mechanism 40 moves to the heat dissipation opening position, and the moving sleeve 41 forms effective shielding and protection for the inner cavity when the moving sleeve 41 is in the closed position. The structure not only enhances the functional diversity of the protection mechanism 40, but also ensures efficient switching and reliable sealing between heat dissipation and protection of the shaft arm assembly.

[0050] As shown in Figure 5 some examples, further, a cleaning scraping edge 43 is arranged at the inner side edge position of the moving sleeve 41, the cleaning scraping edge 43 corresponds to the position of the air inlet filter plate 32 and is used to actively clean dust on the surface of the air inlet filter plate 32.

[0051] In the embodiment, the cleaning scraping edge 43 is arranged at the inner side edge position of the moving sleeve 41 and corresponds to the position of the air inlet filter plate 32. When the moving sleeve 41 slides along the heat insulation outer cylinder 31 in the axial direction, the cleaning scraping edge 43 can be in close contact with the surface of the air inlet filter plate 32, thereby actively scraping and cleaning dust and impurities on the surface of the air inlet filter plate 32 through the moving stroke, so as to effectively prevent the filter plate from being blocked and ensure smoothness of the air inlet channel and long-term efficient operation of the cooling system. This structure design significantly improves the self-maintenance capability of the robot shaft arm assembly.

[0052] AsFigure 8 、 Figure 10 and Figure 11 As shown, 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 and can move in a linear direction; the extension shaft 232 is fixedly connected to the middle of the outer wall of the sealing piston 231 away from the side of the extension cavity 21, and the other end of the extension shaft 232 is connected to the movable sleeve 41.

[0053] 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 a linear direction within the linear cavity 22 to respond to the pressure of the thermal expansion liquid and achieve 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 movable sleeve 41. When the thermal expansion liquid in the medium cavity expands due to heat, it pushes the sealing piston 231 to move outward within the linear cavity 22, and then drives the movable sleeve 41 along the outer wall of the insulating outer cylinder 31 via the extension shaft 232 to complete the opening and closing of the protective mechanism 40. This realizes the automatic switching of the protective mechanism 40 and the synchronous linkage of the opening and closing of the cooling mechanism.

[0054] like Figure 10 As shown, in some examples, further, the cooling 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-insulating outer tube 31, and is located outside the end of the supporting outer tube 34; the plurality of fan blades 332 are rotatably arranged in the fan frame 331; the button 334 is fixedly set on the switch 333, and the button 334 faces the extension shaft 232.

[0055] In this embodiment, the cooling fan 33 is composed of a fan frame 331, a plurality of blades 332 and a button 334. The fan frame 331 is fixedly mounted in the inner cavity of the heat-insulating outer cylinder 31 and is located outside the end of the supporting outer cylinder 34, providing a stable installation base for the cooling fan 33. The plurality of blades 332 can rotate freely in the fan frame 331 to achieve efficient airflow circulation. The button 334 is fixedly set in a position connected to the fan circuit switch 333. It faces the extension shaft 232 and can be directly pressed to achieve automatic start and stop of the fan when the movable sleeve 41 or the extension shaft 232 is in place. The cooling fan 33 is controlled in linkage with the action of the protective mechanism 40, which effectively improves the automation level of the robot shaft arm assembly.

[0056] like Figure 4 、 Figure 6 and Figure 7As shown, in some examples, further, the protective end plate 42 is provided with: a plurality of bars 421, a plurality of rib rods 422, a shielding part 423 and a connecting seat 424, the plurality of bars 421 are fixed equidistantly in the hollow area of the protective end plate 42 along the circumferential direction; the plurality of rib rods 422 are fixedly connected between the plurality of bars 421; the shielding part 423 can be deformed into a bent shape and a planar shape under force, and the shielding part 423 is connected to the inner side of the plurality of bars 421 in the protective end plate 42; the connecting seat 424 is fixedly arranged on the inner wall of the moving sleeve 41 and fixedly connected to the end of the extension shaft 232.

[0057] In the present embodiment, the plurality of bars 421 are uniformly distributed and fixed equidistantly in the hollow area of the protective end plate 42 along the circumferential direction, which plays a role in airflow guiding and structural strengthening; the plurality of rib rods 422 are transversely connected between the bars 421, which further improves the rigidity of the end plate as a whole. The shielding part 423 is connected to the inner side of the plurality of bars 421 in the protective end plate 42, and the body thereof can be deformed into a bent shape or a planar shape according to the force condition, so as to adjust the opening or closing of the airflow passage under different working conditions, taking into account the ventilation and protection requirements. The connecting seat 424 is firmly arranged on the inner wall of the moving sleeve 41 and fixedly connected to the end of the extension shaft 232, so as to realize the power transmission between the heat-driven mechanism 20 and the protective end plate 42. The above-mentioned structures cooperate to effectively improve the airflow regulation capability and safety protection performance of the robot shaft arm assembly.

[0058] As shown in some examples, Figure 11 As shown, in some examples, further, the extension shaft 232 is provided with a strip-shaped sliding groove, and the strip-shaped sliding groove is further provided with: a bidirectional elastic moving seat 2321 and an elastic telescopic boss 2322, the bidirectional elastic moving seat 2321 is located at the middle position of the strip-shaped sliding groove and can move bidirectionally and elastically along the strip-shaped sliding groove; the elastic telescopic boss 2322 is arranged on the outer wall of the bidirectional elastic moving seat 2321 in an elastic telescopic manner, and the elastic telescopic boss 2322 is used to push the button 334.

[0059] In this embodiment, the extension shaft 232 is provided with a strip-shaped chute, within which are disposed a bidirectionally elastically movable seat 2321 and an elastically retractable protrusion 2322. The bidirectionally retractable seat 2321 is located in the middle of the strip-shaped chute. Springs are provided at each end of the bidirectionally retractable seat 2321, abutting against the inner walls of the strip-shaped chute, enabling bidirectional elastic movement along the strip-shaped chute. The elastically retractable protrusion 2322 is retractably mounted on the outer wall of the bidirectionally retractable seat 2321 and is configured to push the fan button 334 when the extension shaft 232 moves to a predetermined position. This structural design prevents the fan from frequently starting and stopping when the thermal driving force has not yet reached a certain threshold, thus preventing the fan from frequently starting and stopping when the thrust approaches the critical value for the switch 333. Only when the driving force exceeds the set range, pushing the bidirectional elastic movable seat 2321 to fully displace and driving the elastic telescopic protrusion 2322 to press the button 334, the fan will be reliably turned on or off, thereby realizing the interval triggering of the fan action.

[0060] like Figure 8 As 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 be slidably abutted on at least one rib 422; the elastic support bar 4231 is arranged in a one-to-one correspondence with the shielding portion 423, one end of the elastic support bar 4231 is fixedly connected to the middle part of the protective end plate 42, and the other end is connected between the two shielding pieces 4232.

[0061] In the embodiment, the shielding part 423 comprises two shielding pieces 4232 and an elastic bending shaft 4233 between the two shielding pieces 4232, the outer side of the two shielding pieces 4232 is in a circular arc shape and is slidably abutted on the inner side of the rib 422 in the corresponding position, so as to gradually realize the closed switching under the action of the abutment of the shielding piece 4232 and the outer end surface of the heat insulation cylinder 31 when the shielding piece 4232 follows the contraction of the moving sleeve 41. The elastic bending shaft 4233 is an intermediate fulcrum connecting the two shielding pieces 4232, so that the shielding part 423 can be flexibly bent and deformed during displacement, thereby adjusting the opening of the air flow channel. The elastic bending shaft 4233 is made of an elastic deformation material, so that the two shielding pieces 4232 in the shielding part 423 remain in a bent state without external force. That is, the shielding piece 4232 in the sealing state is in a deformed state at the position of the elastic bending shaft 4233. Once the shielding piece 4232 has a moving space, the shielding piece 4232 is driven by the elastic bending shaft 4233 to avoid the heat dissipation hole. Conversely, when the shielding piece 4232 contacts and is limited by the fan frame 331 or other structures during movement, the shielding piece 4232 is deformed again to flatten and seal the heat dissipation hole. At the same time, each shielding part 423 is provided with an elastic supporting strip 4231, one end of the elastic supporting strip 4231 is fixed in the middle of the protection end plate 42, and the other end is connected between the two shielding pieces 4232, which provides the shielding part 423 with continuous elastic restoring force and fixes the position of the shielding part 423, so that the shielding piece 4232 can be in the correct working position during the opening and closing deformation process, and finally ensure that all the shielding pieces 4232 form a complete closed surface.

[0062] In some examples, further, to realize reliable resetting of the sealing piston 231, a resetting spring (not shown in the figure) is optionally arranged on the side of the sealing piston 231 away from the extension cavity 21 in the straight cavity 22. One end of the resetting spring abuts on the end surface of the sealing piston 231 away from the extension cavity 21. When the heat expansion liquid is heated, the sealing piston 231 moves outward against the elastic force of the resetting spring and pushes the extension shaft 232 to open the heat dissipation structure. When the temperature decreases and the heat expansion liquid shrinks, the resetting spring automatically pushes the sealing piston 231 to reset to the initial position, realizes the closing action of the heat dissipation hole and the fan, and thereby realizes the automatic reciprocating action of the heating driven mechanism 20.

[0063] The following is a description of the working process and principle of the whole device:

[0064] When the robot shaft arm is in a high-intensity or long-time 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 is also affected by the rising heat. After the heat expansion liquid in the heat-driven mechanism 20 is heated and expanded, it transmits pressure along the extension cavity 21 and the linear cavity 22, and pushes the sealing piston 231 and the extension shaft 232 connected thereto in the linear cavity 22 to move outward. The movement of the extension shaft 232 drives the movement 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 sliding groove, the reliable triggering of the fan switch 333 is realized. Only when the pushing force exceeds the predetermined threshold value, the elastic telescopic convex seat 2322 will press the button 334, so as to avoid the frequent start-stop of the fan at the heat critical value. The movement of the movement sleeve 41 makes the protection mechanism 40 gradually move away from the end of the rotating joint 30, and drives the protection end plate 42 to move away and gradually form the air inlet and the air outlet of the heat dissipation air duct, so as to realize the opening of the cooling air flow channel. At this time, the multiple grid bars 421 and the rib bars 422 on the protection end plate 42 ensure smooth airflow, while the built-in shielding part 423 deforms under the guidance of the elastic support strip 4231 and the action of the elastic bending shaft 4233, and leaks out of the air outlet on the front side of the fan. At the same time, the movement of the movement sleeve 41 also exposes the air inlet filter plate 32. The cleaning scraper 43 at the edge of the movement sleeve 41 automatically cleans the surface dust of the air inlet filter plate 32 during its movement, preventing the filter plate from being blocked, and pushing the dust away from the equipment air inlet filter plate 32. At the same time, the switch 333 of the heat dissipation fan 33 is triggered and started by being pressed, which drives the external cold air to enter the inner cavity through the air inlet, and the cooling airflow flows along the channel, rapidly taking away the accumulated heat, and being discharged through the air outlet of the protection mechanism 40. When the temperature decreases, the volume of the heat expansion liquid shrinks, the driving force gradually decreases, the sealing piston 231 and the extension shaft 232 reset, the movement sleeve 41 returns to the initial position close to the rotating joint 30, the air inlet and the air outlet are closed again, the shielding part 423 restores to the closed state under the action of the elastic support strip 4231, the fan switch 333 is disconnected, the entire cooling channel is closed, and the shaft arm assembly returns to the standby or heat preservation state. The device realizes efficient, intelligent and reliable temperature control management and self-maintenance of the robot shaft arm through mechanical and thermal coupling self-adaptive action without additional electric control signals.

[0065] The above is only an embodiment of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A robot shaft arm assembly with an active cooling channel, comprising a support arm (10) and a rotary joint (30) arranged on the support arm (10), characterized in that: The support arm (10) and the rotary joint (30) are further provided with: A heat-driven mechanism (20) is disposed in the inner cavity of the support arm (10) and is capable of generating a mechanical driving force after being heated; A protective mechanism (40) is movably sleeved on the outside of the rotary joint (30); A cooling fan (33) is fixed on the inner side of the rotating joint (30), and the cooling fan (33) is connected to a switch (333); The rotary joint (30) is provided with an air inlet, the protective mechanism (40) is provided with an air outlet, and the protective mechanism (40) has two extreme movement positions close to or away from the rotary joint (30); The driving end of the heat-receiving driving mechanism (20) is connected to the protective mechanism (40) and the switch (333) of the cooling fan (33), and is used to push the protective mechanism (40) to move away from the rotating joint (30) at high temperature and trigger the switch (333) to start the cooling fan (33). When the protective mechanism (40) is in the extreme position away from the rotating joint (30), the air inlet and the exhaust port are both in an open state; When the protection mechanism (40) is in an extreme position close to the rotating joint (30), the air inlet and the exhaust port are both in a closed state, the switch (333) is disconnected from the driving force of the heat-receiving driving mechanism (20), and the cooling fan (33) is in a closed state; The heat-driven mechanism (20) comprises a medium cavity opened in the inner cavity of the support arm (10), and the medium cavity is filled with a thermal expansion liquid; The heat-driven mechanism (20) further comprises: An extension cavity (21), one end of which is connected to the medium cavity and the other end of which extends into the lower half of the inner cavity of the rotary joint (30); A linear cavity (22) is provided in the inner wall of the rotary joint (30) and is connected to the other end of the extension cavity (21); A driving member (23) movably disposed in the inner cavity of the linear cavity (22); The rotary joint (30) includes a fixedly arranged heat-insulating outer cylinder (31), and further includes: An air intake filter plate (32) is arranged in the outer wall of the heat-insulating outer cylinder (31) and is located between two movement limit positions of the protection mechanism (40); A supporting outer cylinder (34) fixedly connected to the outer joint of the rotary joint (30); The inner rotating shaft (35) is rotatably arranged on the inner side of the supporting outer cylinder (34) and is connected to the other shaft arm.

2. The robot arm assembly with active cooling channels according to claim 1, characterized in that: The protection mechanism (40) comprises: A movable sleeve (41) is movably sleeved on the outer side of the outer wall of the heat-insulating outer cylinder (31); The protective end plate (42) is in a hollowed state and is fixedly arranged in an end portion of the movable sleeve (41) away from the rotating joint (30).

3. The robot arm assembly with active cooling channels according to claim 2, characterized in that: A cleaning scraping edge (43) is also provided at the inner edge of the movable sleeve (41), and the cleaning scraping edge (43) corresponds to the position of the air intake filter plate (32) and is used to actively clean dust on the surface of the air intake filter plate (32).

4. The robot arm assembly with active cooling channels according to claim 2, characterized in that: The driving member (23) comprises: A sealing piston (231) is arranged in the linear cavity (22) and is movable in a linear direction; An extension shaft (232) is fixedly connected to the middle portion of the outer wall of the sealing piston (231) away from the extension chamber (21), and the other end of the extension shaft (232) is connected to the movable sleeve (41).

5. The robot arm assembly with active cooling channels according to claim 4, characterized in that: The cooling fan (33) comprises: A fan frame (331) is fixedly mounted in the inner cavity of the heat-insulating outer cylinder (31) and is located outside the end of the supporting outer cylinder (34); A plurality of fan blades (332) rotatably disposed within the fan frame (331); A button (334) is fixedly disposed on the switch (333), and the button (334) faces the extension shaft (232).

6. The robot arm assembly with active cooling channels according to claim 5, characterized in that: The protective end plate (42) is provided with: A plurality of grating bars (421) are fixed in the hollow area of ​​the protective end plate (42) at equal intervals along the circumferential direction; A plurality of ribs (422) are fixedly connected between the plurality of bars (421); The shielding portion (423) can be deformed into a bent shape and a planar shape by a force, and the shielding portion (423) is connected to the inner side of a plurality of bars (421) in the protective end plate (42); The connecting seat (424) is fixedly arranged on the inner wall of the movable sleeve (41) and fixedly connected to the end of the extension shaft (232).

7. The robot arm assembly with active cooling channels according to claim 6, characterized in that: A strip-shaped slide groove is provided on the extension shaft (232), and the strip-shaped slide groove is further provided with: A bidirectional elastic movable seat (2321) is located in the middle of the strip-shaped slide groove and is capable of bidirectional elastic movement along the strip-shaped slide groove; An elastic telescopic convex seat (2322) is telescopically arranged on the outer wall of the bidirectional elastic movable seat (2321), and the elastic telescopic convex seat (2322) is used to push the button (334).

8. The robot arm assembly with active cooling channels according to claim 6, characterized in that: The shielding portion (423) comprises two shielding pieces (4232) and an elastic bending shaft (4233) located between the two shielding pieces (4232); the edges of the two shielding pieces (4232) are arc-shaped and can be slidably abutted against at least one of the ribs (422); An elastic support strip (4231) is provided in one-to-one correspondence with the shielding portion (423), 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 sheets (4232).

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