A robot joint module with active heat dissipation function and a robot

Abstract

The application discloses a robot joint module with an active heat dissipation function and a robot, which comprises a cycloidal speed reducer, a motor assembly, a driving plate and a heat dissipation mechanism; the cycloidal speed reducer and the motor assembly are connected through a hollow cycloidal wheel center shaft; the motor assembly comprises a motor stator and a motor rotor arranged on the inner periphery of the motor stator; the heat dissipation mechanism comprises a first semiconductor refrigeration piece and a second semiconductor refrigeration piece; the first semiconductor refrigeration piece is in a cylindrical shape matched with the hollow cavity of the cycloidal wheel center shaft and is assembled in the hollow cavity; and the second semiconductor refrigeration piece is connected to the end surface of the motor stator away from the cycloidal speed reducer. The joint module is simple and compact, the heat dissipation mechanism based on the semiconductor refrigeration piece is integrated in the joint module, the weight, volume, structural complexity and the like of the joint module are not additionally increased, and the heat dissipation efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot joint module, and particularly relates to a robot joint module with active heat dissipation function and a robot. BACKGROUND

[0002] In a service robot joint module, especially for high-load continuous operation conditions, the cycloidal pin wheel reducer in the joint module often causes adhesion wear of parts due to continuous operation friction heat, which not only reduces the transmission efficiency, but also causes part failure, and even causes the cycloidal pin wheel reducer to fail. In addition, the motor that drives the cycloidal pin wheel reducer in the joint module is integrated in the joint module and is limited in size, which causes a large amount of heat to be generated during operation, resulting in a sharp rise in the temperature of the motor winding. This phenomenon reduces the efficiency of the motor and accelerates the aging of the insulation of the motor, thereby reducing the continuous operation capability and service life of the joint module. Therefore, it is necessary to dissipate heat from the robot joint module.

[0003] In related technologies, lubricating oil or heat dissipation fins are often used to passively dissipate heat from the joint module, but such methods have low heat dissipation efficiency. The lubricating liquid heat dissipation, i.e., liquid cooling heat dissipation, requires the design of multiple cooling liquid circulation channels and the joint module has a relatively complex structure to achieve the heat dissipation, which further causes assembly to be complicated and may increase the weight and volume of the joint module. Further, in the scheme for dissipating heat from the motor of the joint module, forced air cooling has high heat dissipation efficiency, but this method often causes the overall weight and volume of the motor to increase dramatically. SUMMARY

[0004] To solve or partially solve the problems in the related art, the present application provides a robot joint module with active heat dissipation function and a robot, which can efficiently dissipate heat from the joint module.

[0005] The first aspect of the present application provides a robot joint module with active heat dissipation function, comprising a cycloidal pin wheel reducer, a motor assembly, a drive board and a heat dissipation mechanism; the drive board is connected to the motor assembly, and the cycloidal pin wheel reducer is connected to the output of the motor assembly.

[0006] The cycloidal pin wheel reducer comprises an input flange assembly, a cycloidal pin wheel assembly, an output flange assembly and a hollow cycloidal wheel center shaft; the cycloidal wheel center shaft comprises an assembly section and an extension section, and the input flange assembly, the cycloidal pin wheel assembly and the output flange assembly are coaxially assembled on the assembly section in sequence.

[0007] The motor assembly comprises a motor stator and a motor rotor arranged on the inner periphery of the motor stator, and the motor rotor is sleeved on the extension section through a rotor shaft sleeve arranged on the inner periphery of the motor rotor.

[0008] The heat dissipation mechanism comprises a first semiconductor refrigeration sheet and a second semiconductor refrigeration sheet; wherein the first semiconductor refrigeration sheet is in the shape of a cylinder that fits into the hollow cavity of the cycloidal wheel center shaft and is assembled in the hollow cavity; the first semiconductor refrigeration sheet is configured with a cold end on the outer side wall and a hot end on the inner side wall; the second semiconductor refrigeration sheet is connected to the end face of the motor stator away from the cycloidal pin wheel reducer and is configured with a cold end on the connecting surface of the motor stator.

[0009] In some embodiments, the cycloidal pin wheel reducer further comprises a reduction shell, the input flange assembly, the cycloidal pin wheel assembly, and the output flange assembly are assembled in the reduction shell, and the extended section of the cycloidal wheel center shaft extends out of the reduction shell.

[0010] In some embodiments, the heat dissipation mechanism further comprises a conductive slip ring, the conductive slip ring is assembled in the hollow cavity and located at one end of the first semiconductor refrigeration sheet close to the motor assembly;

[0011] The conductive slip ring further comprises:

[0012] a slip ring stator that is arranged in the hollow cavity and electrically connected to the first semiconductor refrigeration sheet;

[0013] a slip ring rotor that is rotatably arranged in the inner wall of the slip ring stator and electrically connected to an external power source.

[0014] In some embodiments, the cold end of the first semiconductor refrigeration sheet is connected to the inner wall of the hollow cavity through a first heat-conductive silica gel; the outer side wall of the motor stator and the end face away from the cycloidal pin wheel reducer are pasted with a second heat-conductive silica gel, and the cold end of the second semiconductor refrigeration sheet is pasted on the second heat-conductive silica gel on the end face.

[0015] In some embodiments, the heat dissipation mechanism further comprises a motor fan, the motor fan is sleeved around the end of the cycloidal wheel center shaft and located at the end of the rotor shaft sleeve away from the cycloidal pin wheel reducer; the motor fan is configured with an air inlet side facing the rotor shaft sleeve and an air outlet side facing the second semiconductor refrigeration sheet.

[0016] Further, the motor fan is configured with an air inlet side located at the end face and an air outlet side located at the peripheral side; a plurality of spiral air ducts are arranged on the rotor shaft sleeve, and the air inlet side of the motor fan is in communication with the air duct openings of the spiral air ducts. The second semiconductor refrigeration sheet is arranged around the peripheral side of the motor fan.

[0017] In some embodiments, the motor assembly further comprises a motor bearing, a motor bearing seat, and a motor shell, an end cover is connected to the outer end of the motor shell; the motor bearing is assembled on the motor bearing seat, the motor bearing seat is fixedly connected to the outer end of the motor shell, and the free end of the cycloidal wheel center shaft is connected to the motor bearing;

[0018] The end face of the second semiconductor refrigeration sheet is connected with the motor stator to form a heat dissipation space, the end cover and the motor bearing seat are both provided with ventilation holes, and the heat dissipation space and the ventilation holes form a heat dissipation airflow channel of the motor assembly.

[0019] Further, the outer end of the end cover is equipped with heat dissipation fins.

[0020] In some embodiments, the input flange assembly includes an input flange and an input flange sliding bearing, the output flange assembly includes an output flange and an output flange sliding bearing, and the cycloidal pin wheel assembly includes a cycloidal wheel provided with a plurality of pin tooth pins along the axial direction on the outer side;

[0021] The cycloidal wheel is assembled on the assembly section through an eccentric sleeve and an eccentric sleeve sliding bearing, and the input flange assembly and the output flange assembly are respectively assembled on the assembly section through a second sliding bearing and a first sliding bearing and are respectively located on the two sides of the cycloidal wheel;

[0022] The second sliding bearing, the input flange, and the input flange sliding bearing are sequentially assembled from inside to outside along the radial direction of the center axis of the cycloidal wheel for the input flange assembly, and the first sliding bearing, the output flange, and the output flange sliding bearing are sequentially assembled from inside to outside along the radial direction of the center axis of the cycloidal wheel for the output flange assembly;

[0023] The eccentric sleeve is interference-fitted with the outer periphery of the boss of the center axis of the cycloidal wheel or is bonded through high-temperature-resistant glue.

[0024] The contact surfaces of the eccentric sleeve sliding bearing, the second sliding bearing, the input flange sliding bearing, the first sliding bearing, and the output flange sliding bearing with other components are all coated with a friction-reducing and wear-resistant coating.

[0025] The input flange assembly, the cycloidal pin wheel assembly, and the output flange assembly are connected through pin shafts and hinge hole bolts.

[0026] The second aspect of the present application provides a robot including the robot joint module described above.

[0027] The technical solution provided by the present application can include the following beneficial effects:

[0028] The robot joint module of the application comprises a cycloidal pin wheel reducer, a motor assembly, a driving plate and a heat dissipation mechanism. The cycloidal pin wheel reducer and the motor assembly are connected through a cycloidal wheel center shaft. On the one hand, a first semiconductor refrigerating fin is arranged in the hollow part of the cycloidal wheel center shaft to adjust the temperature of the cycloidal wheel center shaft, especially the first semiconductor refrigerating fin is arranged close to the cycloidal pin wheel reducer, which can effectively actively cool and / or refrigerate the parts in the cycloidal pin wheel reducer. On the other hand, a second semiconductor refrigerating fin is arranged on the motor stator of the motor assembly to adjust the temperature of the motor stator, which can effectively actively cool the motor assembly.

[0029] The robot joint module of the embodiment of the application has a simple and compact structure. The active heat dissipation mechanism based on the semiconductor refrigerating fin is integrated in the joint module, which does not increase the weight, volume, structural complexity and the like of the joint module, has high heat dissipation efficiency, can ensure the stability and efficiency of the joint module under high load working conditions, and improves the continuous operation capability and service life of the joint module.

[0030] The embodiment of the application is also assisted by a centrifugal fan and / or a heat dissipation fin, and a heat dissipation air flow channel is designed to further improve the heat dissipation effect. The embodiment of the application can also obtain different heat dissipation effects by controlling the current of the first semiconductor refrigerating fin and the second semiconductor refrigerating fin, which has strong adaptability.

[0031] In addition, the cycloidal pin wheel reducer of the embodiment of the application adopts a full sliding bearing. Under the condition that the bearing size is substantially the same, compared with other point or line contact bearings, the face contact sliding bearing can bear significantly larger radial load and axial load, has small deformation under heavy load working conditions, has strong impact resistance, is not prone to fatigue pitting and / or fragmentation of the bearing, and can maintain high output precision. The sliding bearing has a simple structure and a small number of parts, and the structure size can be designed according to the installation space, load demand and the like, which has strong adaptability. Under the same performance requirement, the radial size and the axial size of the sliding bearing can be designed to be smaller. For example, in some embodiments, the radial size of the cycloidal pin wheel reducer can be reduced by about 12% by adopting the full sliding bearing, and in some embodiments, the radial size of the cycloidal pin wheel reducer can be reduced by 10% to 20%. In addition, under good lubrication, the lubricating oil film in the sliding bearing can effectively absorb the vibration and impact from the load and the cycloidal pin wheel transmission, and the structure can avoid periodic vibration and noise.

[0032] In the preferred scheme, the sliding bearing in the embodiment of the application is also coated with a friction-reducing wear-resistant coating. The friction-reducing wear-resistant coating has high hardness, high wear resistance, low friction, chemical stability and good self-lubricating properties, and therefore can further improve the structural strength of the sliding bearing, reduce friction, and further improve the load capacity, transmission precision and transmission stability of the joint module.

[0033] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0034] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0035] Figure 1 is a schematic diagram of the appearance of a robot joint module according to an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of an exploded view of a robot joint module according to an embodiment of the present application;

[0037] Figure 3 is a schematic diagram of an exploded view of a cycloidal speed reducer according to an embodiment of the present application;

[0038] Figure 4 is a schematic diagram of a cross-sectional view of a cycloidal speed reducer according to an embodiment of the present application;

[0039] Figure 5 is a schematic diagram of the structure of a cycloidal wheel center shaft according to an embodiment of the present application;

[0040] Figure 6 is a schematic diagram of the structure of a conductive slip ring according to an embodiment of the present application;

[0041] Figure 7 is a schematic diagram of a cross-sectional view of a motor assembly according to an embodiment of the present application;

[0042] Figure 8 is a schematic diagram of the structure of a centrifugal fan as a motor fan according to an embodiment of the present application;

[0043] Figure 9 is a schematic diagram of the structure of a rotor shaft sleeve according to an embodiment of the present application;

[0044] Figure 10 is a schematic diagram of the structure of an end cover and heat dissipation fins according to an embodiment of the present application.

[0045] Reference numerals: Cycloidal pinwheel reducer 100, input flange 111, input flange sliding bearing 112, first Glyd ring 113, second sliding bearing 114, third Glyd ring 115, spring retainer ring for hole 116, second washer 117, pin 118; Cycloidal pinwheel assembly 120, cycloidal wheel 121, pin tooth pin 122, eccentric sleeve 123, eccentric sleeve sliding bearing 124, pin sleeve 125; Output flange 131, output flange sliding bearing 132, second Glyd ring 133, first sliding bearing 134, fourth Glyd ring 135, first washer 136, reamed hole bolt 137, first threaded hole 138; Cycloidal wheel central shaft 140, assembly section 141, extension section 142, second threaded hole 143, boss 144, partition plate 145, magnetic sleeve 146, magnet 147, limiting groove 148; reduction housing 150, flange 151, internally threaded cylindrical pin 152, internal hexagon screw 153; motor assembly 200, motor stator 210, motor rotor 220, rotor bushing 230, air duct 231, motor housing 240, end cover 241, ventilation hole 242, heat dissipation fins 243, motor bearing 250, motor bearing seat 260, third gasket 270, wave washer 280, heat dissipation space 290; drive board 300; first semiconductor cooling chip 410, second semiconductor cooling chip 420, conductive slip ring 430, slip ring stator 431, slip ring rotor 432, motor fan 440, bushing 441, limiting protrusion 442, impeller 443, second thermally conductive silicone 450. Detailed Implementation

[0046] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be more thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0047] The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0048] like Figures 1-2 As shown, this application embodiment provides a robot joint module with active heat dissipation function, including a cycloidal pinwheel reducer 100, a motor assembly 200, a drive board 300, and a heat dissipation mechanism; the drive board 300 is connected to the motor assembly 200, and the drive board 300 reads the real-time position information of the motor assembly 200 to control the operation of the motor assembly 200; the cycloidal pinwheel reducer 100 is connected to the output of the motor assembly 200 to reduce the speed of the motor assembly 200 before output; the heat dissipation mechanism mainly includes a first semiconductor cooling chip 410 and a second semiconductor cooling chip 420, which are used to actively dissipate heat from the cycloidal pinwheel reducer 100 and the motor assembly 200, respectively.

[0049] As shown in Figures 3-5 The cycloidal speed reducer 100 includes an input flange assembly, a cycloidal pin wheel assembly, an output flange assembly, and a cycloidal wheel center shaft 140; the input flange assembly, the cycloidal pin wheel assembly, and the output flange assembly are sequentially coaxially assembled on the cycloidal wheel center shaft 140. The cycloidal wheel center shaft 140 is a hollow shaft, which includes an assembly section 141 and an extension section 142, the input flange assembly, the cycloidal pin wheel assembly, and the output flange assembly are assembled on the assembly section 141, and the extension section 142 is used to connect with the motor assembly 200. Specifically, the extension section 142 is connected with the output of the motor assembly 200, so that when the motor assembly 200 outputs power, the power is transmitted to the cycloidal speed reducer 100 through the cycloidal wheel center shaft 140, and then output after being decelerated by the cycloidal speed reducer 100.

[0050] In at least one embodiment, the cycloidal speed reducer 100 further includes a speed reduction shell 150, the input flange assembly, the cycloidal pin wheel assembly, and the output flange assembly are assembled in the speed reduction shell 150, and the extension section 142 of the cycloidal wheel center shaft 140 extends out of the speed reduction shell 150.

[0051] In at least one embodiment, a first semiconductor refrigerating sheet 410 is arranged in the hollow cavity of the cycloidal wheel center shaft 140, the first semiconductor refrigerating sheet 410 is in a cylindrical shape matched with the hollow cavity, and the first semiconductor refrigerating sheet 410 is located in the assembly section 141 of the cycloidal wheel center shaft 140. The first semiconductor refrigerating sheet 410 is connected with a first power supply through a conductive slip ring 430 also arranged in the hollow cavity, to establish a heat transfer path with the cycloidal wheel center shaft 140, and adjust the temperature of the cycloidal wheel center shaft 140 based on the electric signal provided by the first power supply. Wherein, the first semiconductor refrigerating sheet 410 cools based on the Peltier effect, and needs to load voltage to form a directional current when working, to realize high-precision temperature control of the target object (such as the cycloidal wheel center shaft 140).

[0052] As shown in Figure 6As shown, generally speaking, the first semiconductor refrigeration piece 410 needs to be connected to an external first power supply, and in view of the fact that the first semiconductor refrigeration piece 410 rotates with the rotation of the cycloid wheel central shaft 140 when working, in order to avoid winding, the first semiconductor refrigeration piece 410 is also provided with a conductive slip ring 430. The conductive slip ring 430 is located at one end of the first semiconductor refrigeration piece 410 close to the motor assembly 200, and further comprises a slip ring stator 431 and a slip ring rotor 432; the slip ring stator 431 is fixedly arranged in the hollow cavity of the cycloid wheel central shaft 140 and is electrically connected with the first semiconductor refrigeration piece 410; the slip ring rotor 432 is rotatably arranged in the inner periphery of the slip ring stator 431 and is configured to be electrically connected with the external first power supply. Among them, a second threaded hole 143 is also formed on the cycloid wheel central shaft 140, which is perpendicular to the axis of the cycloid wheel central shaft 140, so as to install a fixing screw to fasten the slip ring stator 431 on the cycloid wheel central shaft 140, the slip ring rotor 432 is arranged in the inner periphery of the slip ring stator 431 and can move relative to the slip ring stator 431, the first semiconductor refrigeration piece 410 is connected with the slip ring stator 431 through a wire, and the slip ring rotor 432 is connected with the external first power supply through another wire, so as to realize stable input of electric energy to realize the purpose of heat dissipation of the first semiconductor refrigeration piece 410.

[0053] In at least one embodiment, the outer side wall of the first semiconductor refrigeration piece 410 is a cold end, the inner side wall is a hot end, and the cold end of the first semiconductor refrigeration piece 410 is fixedly connected with the cycloid wheel central shaft 140 through the first heat-conducting silica gel. In this embodiment, the outer side wall of the first semiconductor refrigeration piece 410 is adhered to the inner side wall of the hollow cavity of the cycloid wheel central shaft 140.

[0054] When the first semiconductor refrigeration piece 410 is powered on and works, a temperature difference is generated between the cold end and the hot end, and the cold end absorbs heat, which can effectively dissipate the heat generated by the movement of the cycloid wheel central shaft 140. The first heat-conducting silica gel can avoid direct contact between the first semiconductor refrigeration piece 410 and the cycloid wheel central shaft 140 to generate wear and relieve mechanical pressure between them. At the same time, the first heat-conducting silica gel can also fill the gap between them, exclude air, can obviously reduce the thermal resistance, improve the heat transfer efficiency. In the reduction housing 150, the heat generated by the parts between the reduction housing 150 and the cycloid wheel central shaft 140 can also cause the ambient temperature of the cycloid wheel central shaft 140 to rise, so the first semiconductor refrigeration piece 410 can directly dissipate the heat generated by the movement of the cycloid wheel central shaft 140, and also indirectly dissipate the heat of the parts between the cycloid wheel central shaft 140 and the reduction housing 150, thereby realizing active heat dissipation for the joint module. If necessary, the position of the first semiconductor refrigeration piece 410 in the cycloid wheel central shaft 140 can be arranged according to actual needs to dissipate heat to the target parts to be cooled.

[0055] The first semiconductor cooling chip 410 is located in the hollow cavity of the cycloidal wheel central shaft 140, which can achieve effective heat dissipation of the joint module, especially the cycloidal pinwheel reducer 100, without the need for significant improvements to other components of the joint module.

[0056] like Figures 3-4 As shown, in the cycloidal pinwheel reducer 100, the input flange assembly includes an input flange 111 and an input flange sliding bearing 112. The input flange assembly is mounted on the cycloidal wheel central shaft 140, specifically on the assembly section 141 of the cycloidal wheel central shaft 140. A second sliding bearing 114, the input flange 111, and the input flange sliding bearing 112 are sequentially mounted from the inside to the outside along the radial direction of the cycloidal wheel central shaft 140. The output flange assembly includes an output flange 131 and an output flange sliding bearing 132. The output flange assembly is mounted on the cycloidal wheel central shaft 140, specifically on the assembly section 141 of the cycloidal wheel central shaft 140. A first sliding bearing 134, the output flange 131, and the output flange sliding bearing 132 are sequentially mounted from the inside to the outside along the radial direction of the cycloidal wheel central shaft 140.

[0057] The input flange 111 is mounted on the inner ring of the input flange sliding bearing 112, and the second sliding bearing 114 is mounted on the central disc hole of the input flange 111; the output flange 131 is mounted on the inner ring of the output flange sliding bearing 132, and the first sliding bearing 134 is mounted on the central disc hole of the output flange 131; the input flange sliding bearing 112 and the output flange sliding bearing 132 are mounted in corresponding installation positions within the reduction housing 150, which can limit the movement of the input flange sliding bearing 112 and the output flange sliding bearing 132, as well as support the input flange 111 and the output flange 131.

[0058] The input flange sliding bearing 112 is provided with a first Glyd ring 113 at the end near the motor assembly 200, and the output flange sliding bearing 132 is provided with a second Glyd ring 133 at the end away from the motor assembly 200. The first and second Glyd rings 113 prevent lubricating oil leakage and / or dust intrusion. The second sliding bearing 114 is provided with a third Glyd ring 115 and a bore spring retainer 116 in sequence at the end near the center disc hole of the input flange 111. The bore spring retainer 116 abuts against the input flange 111, and a second gasket 117 is provided at the other end. The first sliding bearing 134 is provided with a fourth Glyd ring 135 at the end near the center disc hole of the output flange 131, and a first gasket 136 is provided at the other end.

[0059] The cycloidal pinwheel assembly includes a cycloidal wheel 121, with multiple pin teeth 122 arranged axially on the outer side of the cycloidal wheel 121; the cycloidal wheel 121 is assembled on the central shaft 140 of the cycloidal wheel via an eccentric sleeve 123 and an eccentric sleeve sliding bearing 124; the reduction housing 150 is a pin tooth housing adapted to the cycloidal wheel 121, and the pin teeth 122 are embedded in the inner circumferential groove of the pin tooth housing.

[0060] like Figure 5 As shown, the central shaft 140 of the cycloidal wheel is a stepped shaft, and a boss 144 is provided on the periphery of its assembly section 141. A first sliding bearing 134 and a second sliding bearing 114 are mounted on both ends of the boss 144. Two eccentric sleeves 123 are fitted around the outer periphery of the boss 144. Each eccentric sleeve 123 has an eccentric sleeve sliding bearing 124 fitted around its outer ring, and each eccentric sleeve sliding bearing 124 has a cycloidal wheel 121 fitted around its outer ring. It should be noted that the two eccentric sleeves 123 are interference-fitted with the outer periphery of the boss 144 or bonded with high-temperature resistant adhesive. The two cycloidal wheels 121 are coaxially arranged front and rear cycloidal wheels, and the two eccentric sleeve sliding bearings are coaxially arranged front and rear eccentric sleeve sliding bearings, with a 180-degree phase difference in their installation.

[0061] To further improve the wear resistance of the cycloidal pinwheel reducer 100 and thus extend its service life, the contact surfaces of the eccentric sleeve sliding bearing 124, the input flange sliding bearing 112, the second sliding bearing 114, the output flange bearing 132, and the first sliding bearing 134 with other components are all coated with a friction-reducing and wear-resistant coating. Specifically, the inner and outer ring surfaces of the eccentric sleeve sliding bearing 124 are coated with a friction-reducing and wear-resistant coating; the inner and outer ring surfaces and their conical surfaces of the input flange sliding bearing 112, the second sliding bearing 114, the output flange bearing 132, and the first sliding bearing 134 are all coated with a friction-reducing and wear-resistant coating.

[0062] Anti-friction and wear-resistant coatings are functional coatings applied to the surface of parts to reduce the coefficient of friction and surface wear. One option is carbon-based diamond-like carbon (DLC) coating, whose basic component is carbon, with an atomic structure similar to diamond. It combines high hardness, high wear resistance, low friction, chemical stability, and good self-lubricating properties.

[0063] The friction-reducing and wear-resistant coating can be applied to the eccentric sleeve sliding bearing 124, the input flange sliding bearing 112, the second sliding bearing 114, the output flange bearing 132, and the first sliding bearing 134 by conventional methods such as vapor deposition, including low-temperature vapor deposition.

[0064] The boss 144 is further provided with a partition plate 145 on the circumferential side, the partition plate 145 is located between the two eccentric sleeve sliding bearings, the partition plate 145 can keep the accuracy of the installation position of the two eccentric sleeve sliding bearings, can also bear part of the axial force, and help to transmit the heat generated by the two eccentric sleeve sliding bearings out faster through the partition plate 145. The cycloidal gear center shaft 140 is provided with a magnetic sleeve 146 and a magnet 147 near the end of the motor assembly 200, the magnetic sleeve 146 fixes the magnet 147 at the end of the cycloidal gear center shaft 140 to cooperate with the motor assembly 200 to realize the positioning of the motor rotor 220, wherein the motor assembly 200 is a frameless motor.

[0065] The cycloidal gear 121 is provided with a plurality of pin shaft holes, and a pin shaft sleeve 125 is installed in the pin shaft hole; the input flange plate 111 is provided with a plurality of pin shaft holes, and the ends of a plurality of pin shafts 118 are installed in the pin shaft holes; the output flange plate 131 is provided with a plurality of bolt holes, and the ends of a plurality of hinge hole bolts 137 are installed in the bolt holes; the inner wall of the disc hole of the output flange plate 131 is provided with a first threaded hole 138 connected with the end of the hinge hole bolt 137; the plurality of pin shafts 118 and the plurality of hinge hole bolts 117 on the input flange plate 111 and the output flange plate 131 are inserted into the pin shaft sleeve 125 of the cycloidal gear 121 in correspondence, that is, the input flange plate 111 and the output flange plate 131 are connected to the two sides of the cycloidal gear 121; a tightening screw is installed in the first threaded hole 138 on the inner wall of the disc hole of the output flange plate 131 to tighten the hinge hole bolt 137. The cycloidal gear 121 performs planar motion of revolution and rotation under the joint constraint of the drive of the cycloidal gear center shaft 140 and the pin tooth pin 122, and the motion of the cycloidal gear 121 is further transmitted to the pin shaft 118 penetrating the cycloidal gear 121, and is synchronously transmitted to the output flange plate 131 through the pin shaft 118, so as to realize the output of power.

[0066] Further, the reduction housing 150 extends a flange 151 radially outward near the end of the motor assembly 200, and a plurality of first connecting holes are formed in the flange 151. The motor assembly 200 includes a motor housing 240, and the motor housing 240 is provided with a second connecting hole corresponding to the end of the reduction housing 150, and the cycloidal pin gear reducer 100 and the motor assembly 200 are connected through the corresponding connecting holes of the reduction housing 150 and the motor housing 240. Specifically, the internal threaded cylindrical pin 152 and the internal hexagonal screw 153 pass through the first connecting hole and the second connecting hole, so that the reduction housing 150 and the motor housing 240 are connected.

[0067] The cycloidal pin wheel reducer 100 has the advantages of high reduction ratio, high torque density and high bearing capacity, and becomes the first choice for heavy-duty joints. However, the common heavy-duty joint is heavy and large in size, which can directly affect the motion performance and accuracy of the robot joint module, and is not conducive to the lightweight, miniaturization and compact design of the joint module. In the cycloidal pin wheel reducer 100, the bearings in the embodiments of the present application are all sliding bearings, which can effectively improve the torque density and bearing capacity of the joint module without significantly increasing the weight and size of the joint module, thereby realizing the lightweight and miniaturization design of the joint module.

[0068] As shown in Figure 7 In some embodiments, the motor assembly 200 includes a motor stator 210, a motor rotor 220 arranged at the inner periphery of the motor stator 210, and a rotor shaft sleeve 230 arranged at the inner periphery of the motor rotor 220; the motor rotor 220 is sleeved on the cycloid wheel center shaft 140 through the rotor shaft sleeve 230. A second semiconductor refrigeration sheet 420 is arranged on the end face of the motor stator 210 away from the cycloidal pin wheel reducer 100, the second semiconductor refrigeration sheet 420 is an annular semiconductor refrigeration sheet, and is configured to connect one side of the motor stator 210 as a cold end. The second semiconductor refrigeration sheet 420 is configured to be electrically connected with an external second power supply, to establish a heat transfer path with the motor stator 210, and adjust the temperature of the motor stator 210 based on the electric signal provided by the second power supply. The second semiconductor refrigeration sheet 420 also performs refrigeration based on the Peltier effect, and needs to load a voltage to form a directional current when working, to realize high-precision temperature control of the target object (such as the motor stator 210). Unlike the first semiconductor refrigeration sheet 410, the second semiconductor refrigeration sheet 420 does not need an intermediate, such as a conductive slip ring 430.

[0069] As shown in Figures 7-8 The active heat dissipation mechanism further includes a motor fan 440, which is sleeved near the end of the cycloid wheel center shaft 140 and located at the end of the rotor shaft sleeve 230 away from the cycloidal pin wheel reducer 100, and the air inlet side of the motor fan 440 faces the motor rotor 220 and the rotor shaft sleeve 230.

[0070] In this embodiment, a limiting groove 148 is also provided on the cycloidal wheel central shaft 140. Specifically, the limiting groove 148 is provided on the extension section 142, and the limiting groove 148 extends axially on the outer side wall of the extension section 142. The inner circumference of the rotor bushing 230 and the motor fan 440 are provided with limiting protrusions that are adapted to the limiting groove 148 to prevent relative rotation between the cycloidal wheel central shaft 140 and the rotor bushing 230 and the motor fan 440 during rotation. Therefore, when the motor assembly 200 is working, the rotation of the motor rotor 220 drives the rotor bushing 230, the cycloidal wheel central shaft 140, and the motor fan 440 to rotate synchronously. The rotation of the motor fan 440 generates airflow, thereby achieving active heat dissipation of the interior of the motor assembly 200.

[0071] In at least one embodiment, the cold end of the second thermoelectric cooler 420 is bonded to the end of the motor stator 210 via a second thermally conductive silicone 450. A heat dissipation space 290 exists next to the hot end of the second thermoelectric cooler 420, and the exhaust side of the motor fan 440 faces the heat dissipation space 290. In this embodiment, the second thermally conductive silicone 450 is bonded to the outer wall of the motor stator 210 and the end face away from the cycloidal pinwheel reducer 100, and the cold end of the second thermoelectric cooler 420 is bonded to the second thermally conductive silicone 250 on the end face. Therefore, heat can flow from both the outer wall and the end face of the motor stator 210 to the second thermoelectric cooler 420 through the second thermally conductive silicone 450, effectively reducing the number of second thermoelectric coolers 420 used and improving the heat dissipation efficiency of the motor assembly 200. Furthermore, since the hot end of the second thermoelectric cooler 420 faces the heat dissipation space 290, the airflow generated by the motor fan 440 can carry away the heat from the hot end of the second thermoelectric cooler 420, and the two work together to achieve efficient heat dissipation.

[0072] like Figures 8-9 As shown, in at least one embodiment, the rotor bushing 230 has multiple annularly distributed spiral air ducts 231, wherein the center line of the spiral air duct 231 is a thread, and the motor fan 440 is a centrifugal fan. The air inlet side of the centrifugal fan is connected to the air duct opening of the spiral air duct 231, and the air outlet side of the centrifugal fan faces the heat dissipation space 290. Specifically, the centrifugal fan is sleeved on the cycloidal wheel central shaft 140 and is driven to rotate by the cycloidal wheel central shaft 140. The side of the centrifugal fan facing the rotor bushing 230 is configured as the air inlet side, and its periphery is configured as the air outlet side. The centrifugal fan is connected to the cycloidal wheel central shaft 140 through a bushing 441 located at its center. The inner periphery of the bushing 441 is provided with a limiting protrusion 442 along the axial direction of the cycloidal wheel central shaft 140. When the bushing 441 is fitted onto the cycloidal wheel central shaft 140, the limiting protrusion 442 cooperates with the limiting groove 148 on the cycloidal wheel central shaft 140 to restrict the centrifugal fan and the cycloidal wheel central shaft 140 from rotating relative to each other.

[0073] When the centrifugal fan rotates, air flows in from the air inlet side, and flows out from the gap between adjacent impellers 443 in the radial direction of the centrifugal fan. Therefore, in the present embodiment, the air inlet side is the end surface of the centrifugal fan, and the air outlet side is the side surface of the centrifugal fan. The air flowing out from the air outlet side passes through the second semiconductor refrigeration sheet 420, thereby taking away the heat from the hot end of the second semiconductor refrigeration sheet 420, and further improving the heat dissipation capacity of the second semiconductor refrigeration sheet 420. In the present embodiment, the helical air duct 231 on the rotor shaft sleeve 230 generates axial airflow regardless of the rotation direction of the motor assembly 200. The motor rotor 220 can drive the centrifugal fan to rotate through the cam-follower central shaft 140, so that the axial airflow is transmitted to the heat dissipation space 290 through the centrifugal fan, thereby achieving high-efficiency heat dissipation.

[0074] As shown in Figure 7 Further, the motor assembly 200 further includes a motor bearing 250 and a motor bearing seat 260. The motor bearing seat 260 is fixedly connected with the motor housing 240. The free end of the cam-follower central shaft 140 is connected with the motor bearing 250 and the motor bearing seat 260. The motor bearing 250 is provided with a third gasket 270 on the side close to the centrifugal fan, and is provided with a wave washer 280 on the side close to the motor bearing seat 260. A space is formed between the motor bearing seat 260 and the motor stator 210. The air outlet side of the centrifugal fan faces the space. Therefore, the space can be defined as the heat dissipation space 290.

[0075] As shown in Figures 1-2 In at least one embodiment, one end of the motor housing 240 is connected with the speed reduction housing 150, and the other end of the motor housing 240 is connected with an end cover 241. A plurality of ventilation holes 242 are formed in the end cover 241 and communicate with the heat dissipation space 290. The end of the motor housing 240 close to the cam-pinion speed reducer 100 can be fixedly connected with the speed reduction housing 150 of the cam-pinion speed reducer 100, and the other end away from the cam-pinion speed reducer 100 can be fixedly connected with the end cover 241, thereby realizing the packaging of the joint module. The ventilation holes 242 are formed in the circumferential side of the end cover 241, and the motor bearing seat 260 is also provided with ventilation holes. The ventilation holes can communicate with the heat dissipation space 290. That is, a heat dissipation airflow channel of the motor can be formed between the heat dissipation space 290 and the ventilation holes. The heat collected in the airflow channel can come from the motor stator 210, the motor rotor 220, and the rotor shaft sleeve 230. Therefore, the present embodiment can realize the high-efficiency heat dissipation of the motor assembly 200 through the scientific cooperation of the heat dissipation structures such as the second semiconductor refrigeration sheet 420, the centrifugal fan, and the air duct 231. The heat dissipation structures are compact in structure, easy to assemble and integrate, and do not significantly increase the volume of the joint module, which is conducive to the miniaturization and compact design of the joint module.

[0076] AsFigure 10 As shown, in at least one embodiment, the outer end of the end cover 242 is further equipped with a heat dissipation fin 243. In the present embodiment, the heat dissipation fin 243 can be bolted on the end cover 242, thereby further dissipating heat for the motor assembly 200.

[0077] It can be seen that the embodiment of the present application can integrate the heat dissipation structure in the robot joint module, especially the first semiconductor refrigeration piece 410, the second semiconductor refrigeration piece 420, the centrifugal fan, etc. At the same time, in combination with the heat dissipation structure, the passive heat dissipation structure such as the air duct 231 on the rotor shaft sleeve 230 and the ventilation hole 242 on the end cover 241 is also adapted, thereby realizing the efficient heat dissipation of the joint module without significantly increasing the volume of the joint module.

[0078] In the embodiment of the present application, when the joint module is working, the motor rotor 220 drives the cycloid wheel center shaft 140 to rotate. In order to transmit the deceleration motion to the output flange plate 131, a plurality of pin shafts 118 distributed in an annular array are assembled on the input flange plate 111, the pin shafts 118 penetrate the cycloid wheel 121 and are connected with the output flange plate 131. Therefore, when the motor rotor 220 drives the cycloid wheel center shaft 140 to rotate, and the cycloid wheel center shaft 140 drives the cycloid wheel 121 to rotate on the pin gear shell, the motion of the cycloid wheel 121 can be transmitted to the output flange plate 131 through the pin shaft 118, so that the output flange plate 131 makes a deceleration motion relative to the motor rotor 220. In the cycloidal pin wheel reducer, all bearings used are sliding bearings, which can improve the carrying capacity of the cycloidal pin wheel reducer. That is, the bearings in the cycloidal pin wheel reducer are all sliding bearings, which can simultaneously bear radial load and axial load, can prolong the service life of the cycloidal pin wheel reducer, and significantly improve the carrying capacity and impact resistance, so that the operation is more stable, which is beneficial to realize the lightweight and miniaturization design of the joint module.

[0079] Further, the cycloidal pin wheel reducer 100 includes the cycloid wheel center shaft 140, the cold end temperature of the first semiconductor refrigeration piece 410 in the hollow shaft of the cycloid wheel center shaft 140 can be adjusted by controlling the input current, and the first semiconductor refrigeration piece 410 is connected with an external power supply through the conductive slip ring 430, for dissipating heat for the shaft, sliding bearing, cycloid wheel and other components.

[0080] And, the second semiconductor refrigeration piece 420 on the motor stator 210 in the motor assembly 200 can be directly connected to the external second power supply without an intermediary, the second heat-conducting silica gel 450 pasted on the motor stator 210 can reduce the number of annular semiconductor refrigeration pieces, so that the heat of the side surface and the end surface of the motor stator 210 can flow to the cold end of the second semiconductor refrigeration piece 420 at the same time, improving the heat dissipation efficiency of the motor; at the same time, the spiral air duct 231 through the rotor shaft sleeve 230, no matter the motor assembly 200 is forward or reverse, the spiral air duct 231 on the rotor shaft sleeve 230 can generate axial airflow, the motor rotor 220 can rotate through the cycloid wheel center shaft 140 to drive the centrifugal fan, so that the axial airflow is centrifuged by the centrifugal fan, thereby taking away the heat of the hot end of the second semiconductor refrigeration piece 420, realizing high-efficiency heat dissipation.

[0081] Obviously, in the embodiment, the semiconductor refrigeration piece is used as the core part of the heat dissipation structure, and the semiconductor refrigeration piece is specifically assembled in the hollow part of the cycloid wheel center shaft and the side of the motor stator, so that the structure is simple and compact, and is also convenient for assembly and integration, and meanwhile, the centrifugal fan in the driving motor and the heat dissipation fins outside the driving motor are supplemented, the heat dissipation air duct designed in this form can make the motor be high-efficiency heat dissipated when being forward or reverse, and the embodiment can also achieve different heat dissipation effects by controlling the current size of the semiconductor refrigeration piece, so that the adaptability is better.

[0082] The embodiment of the application also provides a robot comprising the robot joint module with the heat dissipation function.

[0083] The above has described the embodiments of the application, and the above description is exemplary, is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical application or improvement of the technology in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A robot joint module with active heat dissipation function, characterized in that: It includes a cycloidal pinwheel reducer, a motor assembly, a drive plate, and a heat dissipation mechanism; the drive plate is connected to the motor assembly, and the cycloidal pinwheel reducer is connected to the output of the motor assembly; The cycloidal pinwheel reducer includes an input flange assembly, a cycloidal pinwheel assembly, an output flange assembly, and a hollow cycloidal wheel central shaft; the cycloidal wheel central shaft includes an assembly section and an extension section, and the input flange assembly, the cycloidal pinwheel assembly, and the output flange assembly are sequentially and coaxially assembled on the assembly section; The motor assembly includes a motor stator and a motor rotor disposed on the inner periphery of the motor stator. The motor rotor is sleeved on the extension section through a rotor shaft sleeve disposed on its inner periphery. The heat dissipation mechanism includes a first semiconductor cooling chip and a second semiconductor cooling chip; wherein, the first semiconductor cooling chip is cylindrical in shape and adapted to the hollow cavity of the cycloidal wheel's central shaft and is assembled in the hollow cavity; the first semiconductor cooling chip is configured with its outer side wall as the cold end and its inner side wall as the hot end; the second semiconductor cooling chip is connected to the end face of the motor stator away from the cycloidal pinwheel reducer, and is configured with its connection surface with the motor stator as the cold end; The heat dissipation mechanism also includes a conductive slip ring, which is assembled in the hollow cavity and located at the end of the first semiconductor cooling chip near the motor assembly. The conductive slip ring further includes: A slip ring stator is disposed within the hollow cavity and electrically connected to the first semiconductor cooling chip; The slip ring rotor is rotatably mounted on the inner circumference of the slip ring stator and electrically connected to an external power source.

2. The robot joint module as described in claim 1, characterized in that: The cycloidal pinwheel reducer also includes a reduction housing, an input flange assembly, a cycloidal pinwheel assembly, and an output flange assembly, all of which are assembled inside the reduction housing. The extension of the cycloidal pinwheel's central shaft extends beyond the reduction housing.

3. The robot joint module as described in claim 1, characterized in that: The cold end of the first semiconductor refrigeration chip is connected to the inner wall of the hollow cavity through a first thermally conductive silicone rubber; and a second thermally conductive silicone rubber is pasted on the outer wall of the motor stator and the end face away from the cycloidal pinwheel reducer, and the cold end of the second semiconductor refrigeration chip is pasted on the second thermally conductive silicone rubber pasted on the end face.

4. The robot joint module as described in claim 1, characterized in that: The heat dissipation mechanism also includes a motor fan, which is sleeved near the end of the cycloidal wheel's central shaft and located at the end of the rotor shaft sleeve away from the cycloidal pinwheel reducer; the motor fan is configured with its air inlet side facing the rotor shaft sleeve and its air outlet side facing the second semiconductor cooling chip.

5. The robot joint module as described in claim 4, characterized in that: The motor fan is configured such that the air inlet side is located on the end face and the air outlet side is located on the periphery; and the rotor bushing is provided with a plurality of spiral air ducts, the air inlet side of the motor fan is connected to the air duct opening of the spiral air ducts; the second semiconductor cooling chip is arranged around the periphery of the motor fan.

6. The robot joint module as described in claim 1, characterized in that: The motor assembly further comprises a motor bearing, a motor bearing seat and a motor housing, an end cover is connected to the outer end of the motor housing, the motor bearing is assembled on the motor bearing seat, the motor bearing seat is fixedly connected to the outer end of the motor housing, and the free end of the cycloidal wheel center shaft is connected with the motor bearing; The end face between the motor bearing seat and the motor stator is connected with the second semiconductor refrigeration sheet to form a heat dissipation space, the end cover and the motor bearing seat are both provided with ventilation holes, and the heat dissipation space and the ventilation holes form a heat dissipation airflow channel of the motor assembly.

7. The robot joint module of claim 6, wherein: The outer end of the end cover is assembled with heat dissipation fins.

8. The robot joint module of claim 1, wherein: The input flange plate assembly comprises an input flange plate and an input flange plate sliding bearing, the output flange plate assembly comprises an output flange plate and an output flange plate sliding bearing, and the cycloidal pin wheel assembly comprises a cycloidal wheel provided with a plurality of pin tooth pins in an axial direction on the outer side; The cycloidal wheel is assembled on the assembly section through an eccentric sleeve and an eccentric sleeve sliding bearing, the input flange plate assembly and the output flange plate assembly are respectively assembled on the assembly section through a second sliding bearing and a first sliding bearing, and are respectively located on the two sides of the cycloidal wheel; The second sliding bearing, the input flange plate and the input flange plate sliding bearing are sequentially assembled from inside to outside along the radial direction of the cycloidal wheel center shaft for the input flange plate assembly, and the first sliding bearing, the output flange plate and the output flange plate sliding bearing are sequentially assembled from inside to outside along the radial direction of the cycloidal wheel center shaft for the output flange plate assembly; The eccentric sleeve is interference-fitted with the outer periphery of the boss of the cycloidal wheel center shaft or is bonded through high-temperature-resistant glue; The input flange plate assembly, the cycloidal pin wheel assembly and the output flange plate assembly are connected through pin shafts and hinge hole bolts; The contact surfaces of the eccentric sleeve sliding bearing, the second sliding bearing, the input flange plate sliding bearing, the first sliding bearing and the output flange plate sliding bearing with other components are all coated with a friction-reducing and wear-resistant coating.

9. A robot, comprising the robot joint module according to any one of claims 1-8. ​

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