Joint module of integrated robot

Abstract

The application relates to the field of robot joint modules, in particular to a joint module of an integrated robot, which comprises a motor module outside which is provided with a supporting cylinder, and a liquid cooling unit outside the supporting cylinder. The application continuously extrudes the arc-shaped elastic sheet through the extrusion plate, pumps the air above the motor module into the space below the extrusion plate through the extrusion plate, drives the air to circulate and flow to dissipate heat in the internal space of the supporting cylinder, the air entering the space below the motor module passes through the communication cavity II and the waterproof air-permeable film into the liquid storage cavity to be cooled and exchanged with the cooling liquid, the air floats in the cooling liquid, the suction force generated by the pump air groove and the communication hole sucks the air into the supporting cylinder through the communication cavity I and the waterproof air-permeable film, a self-circulation without pump driving is formed, the heat exchange between the internal air and the external cooling liquid is realized, the waterproof air-permeable film is used to realize efficient heat dissipation and prevent the liquid leakage from affecting the module, and the space of the motor cavity and the driver cavity is not occupied.

Description

Technical Field

[0001] This invention relates to the field of robot joint modules, and in particular to a joint module for an integrated robot. Background Technology

[0002] With the rapid development of robotics technology, integrated joint modules have become the core motion control unit for humanoid robots, collaborative robots, and industrial automation equipment. Integrated joint modules highly integrate core components such as servo motors, reducers, encoders, drivers, and brakes into a compact housing, achieving a deep integration of power output, precise transmission, and intelligent control.

[0003] However, while high integration brings advantages such as compact structure and convenient assembly, it also causes serious heat dissipation problems. Heat sources such as motor windings, driver power devices, and brake coils are concentrated in a small housing space, making it difficult to dissipate heat effectively. After prolonged operation, the internal temperature of the joint can reach over 120°C, directly leading to reduced motor torque, encoder signal drift, driver thermal throttling, or even burnout, severely affecting the robot's motion accuracy, load capacity, and overall reliability.

[0004] Existing technology uses heat pipes inside the joint housing to conduct heat from the heat source to the outer wall of the housing, and coolant channels are set on the outer wall or inside the housing to carry away heat through coolant circulation. Although this solution can improve heat dissipation efficiency to a certain extent, the coolant channels are usually connected to the housing through pipe joints, sealing rings or welding. During operation, the joint module is continuously subjected to vibration, impact and temperature cycle changes. Pipe joints are prone to fatigue loosening, sealing rings fail due to aging due to thermal expansion and contraction, and welding points develop microcracks due to thermal stress. Once the coolant leaks, it will directly corrode the insulation layer of the motor windings, driver circuit board and encoder optical components inside the joint, causing short circuits, corrosion or loss of accuracy. The repair cost is extremely high and may even lead to the scrapping of the entire machine. Summary of the Invention

[0005] Given that the above-mentioned or existing technologies use heat pipes to conduct heat from the heat source to the outer wall of the housing, and coolant channels are set on the outer wall or inside the housing to carry away heat through coolant circulation, although this solution can improve heat dissipation efficiency to a certain extent, the coolant channels are usually connected to the housing through pipe joints, sealing rings or welding. During operation, the joint module is continuously subjected to vibration, impact and temperature cycle changes. The pipe joints are prone to fatigue loosening, the sealing rings fail due to aging due to thermal expansion and contraction, and the welding points develop microcracks due to thermal stress. Once the coolant leaks, it will directly corrode the insulation layer of the motor windings, driver circuit board and encoder optical components inside the joint, causing short circuits, corrosion or loss of accuracy. The maintenance cost is extremely high and may even lead to the scrapping of the entire machine. Therefore, this invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a joint module for an integrated robot.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an integrated robot joint module, including a drive plate, an encoder base, an encoder, a motor module, and a reducer module, and further including a support cylinder disposed outside the motor module, and a liquid cooling unit disposed outside the support cylinder; the motor module includes a stator fixedly disposed on the inner wall of the support cylinder and a rotor rotatably disposed on the stator, the rotor being connected to the wave generator of the reducer module through a hollow rotating shaft; the reducer module is disposed inside the front end cover of the support cylinder; the encoder is disposed at the bottom of the motor module, an encoder base is disposed at the bottom of the encoder, a drive plate is disposed below the encoder base, and the drive plate is fixedly connected to the inner side of the rear end cover of the support cylinder.

[0008] As a preferred embodiment of the joint module of the integrated robot of the present invention, the following is provided: an air intake component and an exhaust component are provided on the support cylinder, the air intake component and the exhaust component extend beyond both ends of the stator; the air intake component includes multiple sets of connecting posts I provided on the support cylinder, the gap between the connecting posts I is set as a connecting cavity I, the connecting cavity I is connected to the inner and outer spaces of the support cylinder; the exhaust component includes multiple sets of connecting posts II provided on the support cylinder, the gap between the connecting posts II is set as a connecting cavity II, the connecting cavity II is connected to the inner and outer spaces of the support cylinder; a waterproof and breathable membrane is provided on the air intake component and the exhaust component.

[0009] As a preferred embodiment of the joint module of the integrated robot of the present invention, wherein: the inner wall of the support cylinder that fits with the stator is provided with a spiral groove, and the spiral groove and the outside of the stator form a spiral channel; the lower end of the spiral groove is connected to the exhaust assembly through the internal space of the air intake assembly; a connecting hole is provided on the connecting cavity and is connected to the upper end of the spiral groove.

[0010] As a preferred embodiment of the joint module of the integrated robot of the present invention, the support cylinder is provided with an air pump groove, and the two ends of the air pump groove are respectively connected to a connecting hole and a spiral groove.

[0011] As a preferred embodiment of the joint module of the integrated robot of the present invention, an air film and an arc-shaped spring are provided on the air pump groove.

[0012] As a preferred embodiment of the joint module of the integrated robot of the present invention, wherein: a pressing plate that matches an arc-shaped spring is provided on the hollow shaft of the rotor, and the pressing plate pushes the abutting arc-shaped spring into the air pump groove.

[0013] As a preferred embodiment of the joint module of the integrated robot of the present invention, the liquid cooling unit includes a liquid cooling sleeve disposed outside the support cylinder, and multiple sets of heat-conducting connecting blocks disposed on the outer wall of the liquid cooling sleeve and the support cylinder, and the gap between the liquid cooling sleeve and the support cylinder is configured as a liquid storage cavity.

[0014] As a preferred embodiment of the joint module of the integrated robot of the present invention, the heat-conducting connecting blocks are arranged alternately on the liquid cooling jacket.

[0015] As a preferred embodiment of the joint module of the integrated robot of the present invention, a waterproof and breathable membrane separates the internal space of the liquid cooling jacket and the support cylinder.

[0016] As a preferred embodiment of the joint module of the integrated robot of the present invention, the liquid cooling jacket is made of thermally conductive material and a heat exchange groove is provided on the outside of the liquid cooling jacket.

[0017] The beneficial effects of the integrated robot joint module of this invention are as follows: This invention continuously squeezes the arc-shaped spring sheet through the extrusion plate, pumping the air above the motor module into the space below the extrusion plate, driving air circulation to dissipate heat from the inside of the support cylinder. At the same time, the air entering the space below the motor module enters the liquid storage chamber through the second connecting cavity and the waterproof and breathable membrane to exchange heat with the coolant. The air floats in the coolant, and the suction generated by the pump slot and connecting hole draws the air into the support cylinder through the first connecting cavity and the waterproof and breathable membrane, forming a self-circulating system that does not require a pump. Through the heat exchange between the internal air and the external coolant, efficient heat dissipation is achieved under the action of the waterproof and breathable membrane, while also preventing leakage from affecting the module. Furthermore, it does not occupy the space of the motor cavity and the driver cavity, maintaining the compactness of the joint module. Routine maintenance only requires checking the patency of the waterproof and breathable membrane, without disassembling the joint module, significantly reducing the total life cycle cost. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the joint module of an integrated robot.

[0020] Figure 2 This is a schematic diagram of the internal structure of the joint module of an integrated robot.

[0021] Figure 3 This is a schematic diagram of the liquid cooling unit of the joint module of an integrated robot.

[0022] Figure 4 Joint modules for integrated robots Figure 2 Enlarged view of the structure at point A in the middle.

[0023] Figure 5 Joint modules for integrated robots Figure 2 Enlarged view of the structure at point B in the middle.

[0024] Figure 6 This is a cross-sectional schematic diagram of the support cylinder for the joint module of an integrated robot.

[0025] Figure 7 This is a schematic diagram of the air intake assembly of the joint module of an integrated robot.

[0026] Figure 8 This is a schematic diagram of the extrusion plate of the joint module of an integrated robot.

[0027] In the diagram: 1. Drive board; 2. Encoder base; 3. Encoder; 4. Motor module; 41. Stator; 42. Rotor; 43. Extrusion plate; 5. Reducer module; 6. Support cylinder; 61. Air intake assembly; 611. Connecting post one; 612. Connecting cavity one; 613. Connecting hole; 62. Exhaust assembly; 621. Connecting post two; 622. Connecting cavity two; 63. Spiral groove; 64. Waterproof and breathable membrane; 65. Pumping groove; 66. Air film; 67. Arc-shaped spring; 7. Liquid cooling unit; 71. Liquid cooling jacket; 72. Thermally conductive connecting block; 73. Liquid storage chamber. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Example, refer to Figures 1-8This embodiment of the invention provides an integrated robot joint module, which includes a drive plate 1, an encoder base 2, an encoder 3, a motor module 4, and a reducer module 5. It also includes: a support cylinder 6 externally mounted on the motor module 4, and a liquid cooling unit 7 externally mounted on the support cylinder 6; the motor module 4 includes a stator 41 fixedly mounted on the inner wall of the support cylinder 6 and a rotor 42 rotatably mounted on the stator 41. The rotor 42 is connected to the wave generator of the reducer module 5 via a hollow shaft. An output flange is provided on the hollow shaft of the rotor 42, and a power-off brake is also provided on the hollow shaft. When power is off, the joint position is maintained; when power is on, the brake on the hollow shaft is released. The reducer module 5 is located inside the front end cover of the support cylinder 6; the encoder 3 is located at the bottom of the motor module 4, with an encoder base 2 at the bottom of the encoder 3. A drive plate 1 is located below the encoder base 2, and the drive plate 1 is fixedly connected to the inner side of the rear end cover of the support cylinder 6; wherein the support cylinder 6 is an overall cylindrical die-cast aluminum alloy structure, with the front and rear ends... Each end cap is fixedly installed to seal the internal space of the support cylinder 6. The reducer module 5 includes a rigid wheel, a flexible wheel, and a wave generator. The rigid wheel is fixedly connected to the front end cap of the support cylinder 6 by bolts, and the flexible wheel is connected to the output flange by bolts. The output flange is supported by the front end cap of the support cylinder 6 through a bearing assembly to achieve high-precision rotary output. The reduction ratio of the harmonic reducer is 100:1, which is suitable for high-torque and high-precision motion control requirements. The encoder 3 includes a motor-end incremental encoder and an output-end absolute encoder. The motor-end incremental encoder is set on the encoder base 2 and connected to the rear end of the rotor 42 for real-time feedback of motor speed and position. The output-end absolute encoder is set at the rear end of the output flange for accurate detection of joint output angle to achieve full closed-loop control. The liquid cooling unit 7 is used to carry coolant in the support cylinder 6. In conjunction with the operation of the motor module 4, it drives the air inside the support cylinder 6 to flow and circulates heat exchange in the coolant inside the support cylinder 6 and in the liquid cooling unit 7 to keep the components installed in the support cylinder 6 cool.

[0030] The support cylinder 6 is provided with an air intake assembly 61 and an exhaust assembly 62, which extend beyond both ends of the stator 41. The air intake assembly 61 and the exhaust assembly 62 work together to enable the air in the support cylinder 6 to communicate with the space inside the liquid cooling unit 7.

[0031] The air intake assembly 61 includes multiple sets of connecting posts 611 disposed on the support cylinder 6. The gap between the connecting posts 611 is configured as a connecting cavity 612, which communicates with the inner and outer spaces of the support cylinder 6. The connecting posts 611 serve as supports and connections, and the connecting cavity 612 is used for air to enter the support cylinder 6.

[0032] The exhaust assembly 62 includes multiple sets of connecting columns 621 disposed on the support cylinder 6. The gap between the connecting columns 621 is configured as a connecting cavity 622, which communicates with the inner and outer spaces of the support cylinder 6. The connecting columns 621 serve as support and connection, and the connecting cavity 622 is used for air exhaust from the support cylinder 6.

[0033] Waterproof and breathable membranes 64 are provided on the air intake assembly 61 and the exhaust assembly 62. The waterproof and breathable membranes 64 separate the internal space of the support cylinder 6 from the liquid cooling unit 7, allowing air to pass through freely while preventing liquid from entering the support cylinder 6.

[0034] The inner wall of the support cylinder 6, which is in contact with the stator 41, is provided with a spiral groove 63, which forms a spiral channel with the outside of the stator 41; the spiral groove 63 is used for air to pass through and dissipate heat from the outer wall of the motor module 4.

[0035] The lower end of the spiral groove 63 is connected to the exhaust assembly 62 through the internal space of the intake assembly 61; in this way, the hot air in the spiral groove 63 can be directly discharged through the exhaust assembly 62.

[0036] The connecting cavity 612 is provided with a connecting hole 613 that connects to the upper end of the spiral groove 63. Through the connecting hole 613, the air cooled by the coolant in the liquid cooling unit 7 can directly enter the spiral groove 63 through the connecting hole 613.

[0037] The support cylinder 6 is provided with a pumping groove 65. The two ends of the pumping groove 65 are connected to the connecting hole 613 and the spiral groove 63 respectively. Cold air enters the pumping groove 65 through the connecting hole 613 and then enters the spiral groove 63 through the pumping groove 65.

[0038] The air pumping groove 65 is provided with an air film 66 and an arc-shaped spring piece 67. The air film 66 is used to cause changes in the volume of the air pumping groove 65 due to deformation. It generates suction through the connecting hole 613 to pump the air in the support cylinder 6 into the air pumping groove 65, thereby realizing air circulation. The arc-shaped spring piece 67 is used to protect the air film 66.

[0039] The hollow shaft of the rotor 42 is provided with a pressing plate 43 that matches the arc-shaped spring piece 67. The pressing plate 43 pushes the arc-shaped spring piece 67 into the pumping groove 65. As the hollow shaft of the rotor 42 rotates, the pressing plate 43 rotates on the air film 66, causing the air film 66 to deform. In conjunction with the pumping groove 65, air is pumped into the spiral groove 63.

[0040] The liquid cooling unit 7 includes a liquid cooling jacket 71 disposed outside the support cylinder 6, and multiple sets of heat-conducting connecting blocks 72 disposed on the outer walls of the liquid cooling jacket 71 and the support cylinder 6. The gap between the liquid cooling jacket 71 and the support cylinder 6 is configured as a liquid storage chamber 73. The heat-conducting connecting blocks 72 are used to connect and fix the liquid cooling jacket 71 and the support cylinder 6. The liquid storage chamber 73 is used to store coolant and to exchange heat and cool the incoming hot air.

[0041] The heat-conducting connecting blocks 72 are arranged in an alternating pattern on the liquid cooling jacket 71. This arrangement creates a tortuous flow channel in the liquid storage chamber 73, which prolongs the residence time of the hot air entering the liquid storage chamber 73 in the coolant, allowing the hot air to be cooled down sufficiently.

[0042] The waterproof and breathable membrane 64 separates the internal space of the liquid cooling jacket 71 and the support cylinder 6, allowing the air in the support cylinder 6 to circulate in the support cylinder 6 and the liquid storage chamber 73 in conjunction with the drive of the extrusion plate 43, while the coolant in the liquid storage chamber 73 is blocked by the waterproof and breathable membrane 64 and cannot enter the support cylinder 6.

[0043] The liquid cooling jacket 71 is made of thermally conductive material, and a heat exchange groove is provided on the outside of the liquid cooling jacket 71. With this configuration, the coolant in the liquid storage chamber 73 can quickly dissipate heat to the outside.

[0044] In summary, when the motor module 4 starts running, the extrusion plate 43, in conjunction with the rotation of the rotor 42, continuously slides back and forth on the arc-shaped spring sheet 67. The extrusion plate 43, through the arc-shaped spring sheet 67, forces the air film 66 into the pump air groove 65, causing a change in the volume of the pump air groove 65, thereby generating suction. The pump air groove 65, through the connecting hole 613, draws air from above the motor module 4 into the spiral groove 63 to cool the components. At this time, the air pressure above the motor module 4 decreases, and air enters the motor module through the spiral groove 63. In the space below 4, the air pressure in the space below the motor module 4 increases. At this time, the hot air enters the liquid storage chamber 73 through the connecting cavity 2 622 and the waterproof and breathable membrane 64 to exchange heat with the coolant. During the heat exchange process, the air floats in the coolant and enters the space above the motor module 4 again through the connecting cavity 1 612 and the waterproof and breathable membrane 64 to cool the hollow shaft of the extrusion plate 43 and other components. At the same time, the air enters the spiral groove 63 again through the connecting hole 613 in conjunction with the pump air groove 65 to achieve cyclic cooling.

[0045] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A joint module for an integrated robot, comprising a drive board (1), an encoder base (2), an encoder (3), a motor module (4), and a reducer module (5), characterized in that: The motor module (4) is provided with a support cylinder (6) on the outside, and a liquid cooling unit (7) is provided on the outside of the support cylinder (6). The motor module (4) includes a stator (41) fixedly installed on the inner wall of the support cylinder (6) and a rotor (42) rotatably installed on the stator (41). The rotor (42) is connected to the wave generator of the reducer module (5) through a hollow rotating shaft. The reducer module (5) is located inside the front end cover of the support cylinder (6). The encoder (3) is located at the bottom of the motor module (4). The encoder base (2) is located at the bottom of the encoder (3). A drive plate (1) is located below the encoder base (2). The drive plate (1) is fixedly connected to the inner side of the rear end cover of the support cylinder (6).

2. The joint module of the integrated robot as described in claim 1, characterized in that: An air intake assembly (61) and an exhaust assembly (62) are provided on the support cylinder (6), and the air intake assembly (61) and the exhaust assembly (62) extend beyond both ends of the stator (41); The intake assembly (61) includes multiple sets of connecting posts (611) disposed on the support cylinder (6), and the gap between the connecting posts (611) is configured as a connecting cavity (612), which is connected to the inner and outer spaces of the support cylinder (6); The exhaust assembly (62) includes multiple sets of connecting columns (621) disposed on the support cylinder (6), and the gap between the connecting columns (621) is configured as a connecting cavity (622), which is connected to the inner and outer spaces of the support cylinder (6); Waterproof and breathable membranes (64) are provided on the intake assembly (61) and the exhaust assembly (62).

3. The joint module of the integrated robot as described in claim 2, characterized in that: The inner wall of the support cylinder (6) that fits against the stator (41) is provided with a spiral groove (63), and the spiral groove (63) and the outside of the stator (41) form a spiral channel; The lower end of the spiral groove (63) is connected to the exhaust assembly (62) through the internal space of the intake assembly (61); The connecting cavity (612) is provided with a connecting hole (613) that connects to the upper end of the spiral groove (63).

4. The joint module of the integrated robot as described in claim 3, characterized in that: The support cylinder (6) is provided with a pumping groove (65), and the two ends of the pumping groove (65) are connected to the connecting hole (613) and the spiral groove (63) respectively.

5. The joint module of the integrated robot as described in claim 4, characterized in that: An air film (66) and an arc-shaped spring (67) are provided on the air pump groove (65).

6. The joint module of the integrated robot as described in claim 5, characterized in that: The hollow shaft of the rotor (42) is provided with a pressing plate (43) that matches the arc-shaped spring (67). The pressing plate (43) pushes the abutting arc-shaped spring (67) into the pump air groove (65).

7. The joint module of the integrated robot as described in claim 6, characterized in that: The liquid cooling unit (7) includes a liquid cooling jacket (71) disposed outside the support cylinder (6), and multiple sets of heat-conducting connecting blocks (72) disposed on the outer walls of the liquid cooling jacket (71) and the support cylinder (6). The gap between the liquid cooling jacket (71) and the support cylinder (6) is configured as a liquid storage chamber (73).

8. The joint module of the integrated robot as described in claim 7, characterized in that: The thermally conductive connecting blocks (72) are arranged alternately on the liquid cooling jacket (71).

9. The joint module of the integrated robot as described in claim 8, characterized in that: A waterproof and breathable membrane (64) separates the internal space of the liquid cooling jacket (71) and the support cylinder (6).

10. The joint module of the integrated robot as described in claim 9, characterized in that: The liquid cooling jacket (71) is made of thermally conductive material, and a heat exchange groove is provided on the outside of the liquid cooling jacket (71).

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