Robot joint facilitating heat dissipation of motor

Abstract

The utility model relates to the technical field of robots, and particularly discloses a robot joint facilitating heat dissipation of a motor. The first joint assembly comprises a shell and a driving piece arranged on the shell, the shell is used for being connected with an external assembly, and the driving piece is used for driving the external assembly to rotate relative to the shell; the shell is provided with the end cover used in cooperation with the shell, the end cover and / or the shell are / is provided with the fins, the fins are used for accelerating dissipation of heat generated by the driving part, the fins can effectively increase the surface area of the shell in contact with air, heat transfer is accelerated, heat is conducted to the shell and / or the end cover from the driving part, and the heat dissipation efficiency is improved. And then the heat is effectively transmitted to the surrounding environment through the fins, so that the heat dissipation efficiency is improved, and the fins are arranged on the end cover and / or the shell, so that the heat dissipation can be improved, and the mechanical strength of the end cover and / or the shell can be effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular discloses a robot joint which is convenient for heat dissipation of a motor. Background Art

[0002] At present, industrial robots are constantly seeking innovation and innovation. Intelligence and digitalization have gradually become the mainstream of the industry, making robots begin to emerge and are favored by the market. In order to speed up the development of robots and realize mass production, it is necessary to modularize the components of robots. The joint module is one of the typical components of the robot, mainly composed of a reducer, a frameless torque motor, an encoder and a driver. The existing joint modules generally have serious heat generation during operation or poor heat dissipation of the body structure. Therefore, there is an urgent need for a robot joint that is convenient for motor heat dissipation. Utility Model Content

[0003] In order to overcome the shortcomings and deficiencies of the prior art, such as severe heating or poor heat dissipation of the main body structure, the utility model aims to provide a robot joint that facilitates heat dissipation of the motor.

[0004] To achieve the above-mentioned purpose, the utility model provides a robot joint that facilitates heat dissipation of a motor, comprising a first joint assembly; the first joint assembly comprises a housing, and a driving member disposed in the housing, the housing being used to connect an external assembly, and the driving member being used to drive the external assembly to rotate relative to the housing;

[0005] The shell is provided with an end cover which cooperates with the shell and is used to encapsulate the driving component in the shell. The end cover and / or the shell are provided with fins which are used to accelerate the dissipation of heat generated by the driving component.

[0006] Preferably, the end cover and / or shell and the fin are made through an integrated forming process. The integrated forming process can ensure that the connection between the end cover and / or shell and the fin is tight and seamless, eliminating the weaknesses of the seams or connection points that may exist in the traditional assembly process, and can effectively improve the strength and rigidity of the overall structure, so that the end cover and / or shell can better withstand external loads and vibrations. At the same time, the integrated forming process can combine the manufacturing and assembly steps of multiple components into one process step, thereby greatly shortening the production cycle, which can not only improve production efficiency, but also reduce production costs, improve product competitiveness, and through the one-piece formed structure, avoid failures caused by improper assembly or fatigue of connection points, thereby improving product reliability and stability.

[0007] Preferably, the end cap and / or shell and the fins are made of a heat dissipation material having good thermal conductivity, which can effectively transfer heat from the end cap and / or shell to the fins and dissipate the heat by radiation, convection or conduction, thereby effectively improving the heat dissipation effect of the robot joint, reducing the temperature and preventing failure or damage caused by overheating.

[0008] Preferably, the end cover is provided with a blind groove, which is recessed from the outer surface of the end cover. There are multiple fins, which are spaced apart and arranged in parallel with each other; the fin is located in the blind groove, and the free end of the fin does not protrude from the end surface of the end cover away from the shell. The free end of the fin does not protrude from the end surface of the end cover away from the shell, which can avoid the fin from colliding or interfering with the external environment or other objects during movement, and can effectively protect the fin from external damage, ensuring the stable operation of the robot joint. At the same time, the free end of the fin does not protrude from the end surface of the end cover away from the shell, which can reduce the risk of injury to operators or surrounding equipment caused by the fin during movement, help to improve the safety of the robot joint, and reduce the occurrence of accidents. At the same time, opening the fin on the end cover can make the overall structure more simple and compact. The fin does not protrude from the end surface of the end cover away from the shell, which helps to simplify the design and installation process, reduce the complex connection between components, and improve production efficiency.

[0009] Preferably, the first joint assembly further includes a stopper disposed on the housing, wherein one end of the stopper close to the driving member contacts the side wall of the driving member, and the existence of the stopper can provide additional support and stability to prevent the driving member from swinging or shaking unnecessarily during movement. This helps maintain the stability of the joint and improve the movement accuracy and control performance of the robot.

[0010] Preferably, the stopper is made of a heat dissipation material and is in contact with the end cover / fin. The stopper made of the heat dissipation material can effectively absorb and conduct heat, transfer the heat from the joint to the stopper, and then further dissipate the heat through contact with the end cover and the fin, which helps to improve the heat dissipation effect of the joint, reduce the temperature, prevent the joint from overheating, and extend the service life. The contact between the stopper and the end cover and / or fin can increase the contact area for heat dissipation and provide more heat dissipation channels, which helps to enhance the heat dissipation balance, evenly distribute heat, avoid hot spot concentration, and maintain stable operation of the joint.

[0011] Preferably, a third opening is provided on an end of the shell away from the base, and the third opening is arranged obliquely relative to the shell. The upper end of the driving member protrudes out of the end surface of the third opening. The arrangement of the third opening allows the upper end of the driving member to protrude, which is convenient for operators to perform maintenance and debugging. When removing the end cover, the operator can directly observe and contact the driving member, which facilitates maintenance and replacement work and improves maintenance efficiency.

[0012] Preferably, a first opening and a second opening for connecting external components are provided on the shell, and a second slot is provided on both the first opening and the second opening. Through the design of the first opening and the second opening, external components or accessories can be conveniently connected to expand the functions of the robot joints. The external components can be bases, actuators, tools, etc., and by connecting to the second slot on the opening, expansion and application of different functions can be achieved. The second slots on the first opening and the second opening can be used to fix and install external components to achieve modular design. The modular design allows different components to operate and be maintained independently, thereby improving the flexibility and maintainability of the system.

[0013] Preferably, the first opening is used to connect the shell to an external base / a second opening on other shells / an external actuator, and the second opening is used to connect the shell to a first opening on other shells / an external actuator. Through the design of the first opening and the second opening, the shell can be flexibly connected to an external base, a second opening on other shells or an external actuator. This design can realize connection and communication between robot joint components, thereby improving the overall flexibility and scalability of the system.

[0014] Preferably, the first opening and the second opening have the same size. The first opening and the second opening having the same size can make the external components or other parts more universal when connected. Since they have the same size, the same connectors or accessories can be used for connection, which simplifies the design and installation process. The first opening and the second opening having the same size can achieve interchangeability of parts. If a part needs to be replaced or replaced, it only needs to be removed from one opening and then installed on another opening without considering the problem of size mismatch, thereby improving the interchangeability and replaceability of parts.

[0015] The beneficial effects of the utility model are as follows: the fins can effectively increase the surface area of ​​the housing in contact with the air, which helps to accelerate the transfer of heat. The heat is conducted from the drive element to the housing and / or the end cover, and then effectively transferred to the surrounding environment through the fins, thereby improving the heat dissipation efficiency.

[0016] The provision of fins on the housing and / or the casing can increase heat dissipation and effectively improve the mechanical strength of the end cover and / or the casing. The provision of the fins can increase the surface area of ​​the end cover and / or the casing, thereby enhancing the overall structural stability. These additional structural elements can provide better support and protection when subjected to external impact or vibration, and reduce the risk of deformation or breakage due to external forces. At the same time, while improving the heat dissipation efficiency through the fins, it can also reduce the dependence on additional cooling systems (such as fans or coolant circulation systems), which is beneficial to energy saving and can also reduce the overall cost and complexity of the system. Integrating fins on the casing and the end cover can achieve a compact design without the need for additional space to install independent heat dissipation components. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the internal structure of the main body of the utility model;

[0019] Figure 3 It is a side schematic diagram of the housing of the utility model;

[0020] Figure 4 This is a schematic diagram of the interior of the first joint assembly of the utility model;

[0021] Figure 5 It is a cross-sectional schematic diagram of the first joint component of the present utility model.

[0022] Reference numerals include:

[0023] 1. First joint assembly 11, housing 12, driving member

[0024] 13. Stopper 14. First slot 15. Second slot

[0025] 16. First opening 17. Second opening 18. Third opening

[0026] 21. End cover 22. Connector 23. Fin

[0027] 3. Base 4. Swing arm 5. Second joint assembly

[0028] 6. Third joint assembly 7. Actuator DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0030] See also Figures 1 to 5 As shown, a robot joint for facilitating heat dissipation of a motor of the utility model comprises a first joint assembly 1; the first joint assembly 1 comprises a housing 11 and a driving member 12 arranged in the housing 11, the housing 11 is used to connect an external assembly, and the driving member 12 is used to drive the external assembly to rotate relative to the housing 11 (that is, the driving member 12 is used to drive the housing 11 to be movably arranged relative to the external assembly);

[0031] The housing 11 is provided with an end cover 21 which cooperates with the housing 11 and is used to encapsulate the driving member 12 in the housing 11 . The end cover 21 and / or the housing 11 are provided with fins 23 which are used to accelerate the dissipation of heat generated by the driving member 12 .

[0032] Specifically, the fins 23 can effectively increase the surface area of ​​the housing 11 in contact with the air, which helps to accelerate the transfer of heat. The heat is conducted from the driving member to the housing 11 and / or the end cover 21, and then effectively transferred to the surrounding environment through the fins 23, thereby improving the heat dissipation efficiency. The fins 23 provided on the end cover 21 and / or the housing 11 can increase the heat dissipation while also effectively improving the mechanical strength of the end cover 21 and / or the housing 11. The fins can increase the mechanical strength of the end cover 21 and / or the housing 11.

[0033] / or the surface area of ​​the shell 11, thereby enhancing its overall structural stability. These additional structural elements can provide better support and protection when subjected to external impact or vibration, reduce the risk of deformation or breakage due to external forces, and at the same time improve the heat dissipation efficiency through the fins 23 while reducing the dependence on additional cooling systems (such as fans or coolant circulation systems), which is beneficial to saving energy and reducing the overall cost and complexity of the system. Integrating fins on the shell and end cover can achieve a compact design without the need for additional space to install independent heat dissipation components.

[0034] Specifically, the end cover 21 and / or the shell 11 and the fin 23 are made through an integrated forming process. The integrated forming process can ensure that the connection between the end cover 21 and / or the shell 11 and the fin 23 is tight and seamless, eliminating the weaknesses of the seams or connection points that may exist in the traditional assembly process, and can effectively improve the strength and rigidity of the overall structure, so that the end cover 21 and / or the shell 11 can better withstand external loads and vibrations. At the same time, the integrated forming process can combine the manufacturing and assembly steps of multiple components into one process step, thereby greatly shortening the production cycle, which can not only improve production efficiency, but also reduce production costs, improve product competitiveness, and through the one-piece formed structure, avoid failures caused by improper assembly or fatigue of connection points, thereby improving product reliability and stability.

[0035] Specifically, the end cover 21 and / or the shell 11 and the fins 23 are made of a heat dissipation material, which has good thermal conductivity and can effectively transfer heat from the end cover 21 and / or the shell 11 to the fins 23, and dissipate the heat by radiation, convection or conduction, thereby effectively improving the heat dissipation effect of the robot joint, reducing the temperature, and preventing failures or damage caused by overheating.

[0036] Specifically, the end cover 21 is provided with a blind groove, which is recessed from the outer surface of the end cover 21. There are multiple fins 23, and the multiple fins 23 are spaced apart and arranged in parallel with each other; the fin 23 is located in the blind groove, and the free end of the fin 23 does not protrude from the end surface of the end cover 21 away from the shell 11. The free end of the fin 23 does not protrude from the end surface of the end cover 21 away from the shell 11, which can avoid the fin 23 from colliding or interfering with the external environment or other objects during movement, and can effectively protect the fin 23 from external damage, ensuring the stable operation of the robot joint. At the same time, the free end of the fin 23 does not protrude from the end surface of the end cover 21 away from the shell 11, which can reduce the risk of injury to the operator or surrounding equipment caused by the fin during movement, which helps to improve the safety of the robot joint and reduce the occurrence of accidents. At the same time, opening the fin 23 on the end cover 21 can make the overall structure more simple and compact. The fin 23 does not protrude from the end surface of the end cover away from the shell, which helps to simplify the design and installation process, reduce the complex connection between components, and improve production efficiency.

[0037] Specifically, the first joint assembly 1 further includes a stopper 13 disposed on the housing 11, and one end of the stopper 13 close to the driving member 12 contacts the side wall of the driving member 12. The existence of the stopper 13 can provide additional support and stability to prevent the driving member 12 from swinging or shaking unnecessarily during the movement. This helps to maintain the stability of the joint and improve the movement accuracy and control performance of the robot.

[0038] Specifically, a wire passing groove is provided on the stopper 13 / a wire passing groove is formed between the stopper 13 and the shell 11, and a thermal insulation member is provided on the wire passing groove. The wire passing groove provided with the thermal insulation member can form a layer of heat insulation barrier between the stopper 13 and the shell 11, which effectively isolates the heat from being conducted to the wire and causing adverse effects on the wire. This layer of heat insulation barrier can effectively improve the life of the wire / the robot joint, and at the same time avoid the risks of short circuit, fire, etc. caused by excessive line temperature.

[0039] Specifically, the stopper 13 is made of heat dissipation material, and the stopper 13 is in contact with the end cover 21 / fin 23. The stopper 13 made of heat dissipation material can effectively absorb and conduct heat, transfer the heat from the joint to the stopper, and then further dissipate the heat through contact with the end cover 21 and the fin 23, which helps to improve the heat dissipation effect of the joint, reduce the temperature, prevent the joint from overheating, and extend the service life. The contact between the stopper 13 and the end cover 21 and / or the fin 23 can increase the contact area of ​​the heat dissipation and provide more heat dissipation channels, which helps to enhance the heat dissipation balance, evenly distribute heat, avoid hot spot concentration, and maintain stable operation of the joint.

[0040] Specifically, a third opening 18 is provided on the end of the shell 11 away from the base 3. The third opening 18 is inclined relative to the shell 11. The upper end of the driving member 12 protrudes out of the end surface of the third opening 18. The setting of the third opening 18 makes the upper end of the driving member 12 protrude, which is convenient for operators to perform maintenance and debugging. When removing the end cover 21, the operator can directly observe and contact the driving member 12, which is convenient for maintenance and replacement and improves maintenance efficiency.

[0041] Specifically, the shell 11 is provided with a first opening 16 and a second opening 17 for connecting external components. The first opening 16 and the second opening 17 are both provided with a second slot 15 for displaying the reset state of the shell 11. Through the design of the first opening 16 and the second opening 17, external components or accessories can be easily connected to expand the functions of the robot joints. The external components can be bases, actuators, tools, etc., and by connecting to the second slot 15 on the opening, different functions can be expanded and applied. The second slot 15 on the first opening 16 and the second opening 17 can be used to fix and install external components to achieve modular design. The modular design allows different components to operate and be maintained independently, thereby improving the flexibility and maintainability of the system.

[0042] Specifically, the first opening 16 is used for connecting the shell 11 to the external base 3 / the second opening 17 on other shells 11 / the external actuator 7, and the second opening 17 is used for connecting the shell 11 to the first opening 16 on other shells 11 / the external actuator 7. Through the design of the first opening 16 and the second opening 17, the shell 11 can be flexibly connected to the external base 3, the second opening 17 on other shells 11 or the external actuator 7. This design can realize the connection and communication between the joint components of the robot, thereby improving the overall flexibility and scalability of the system.

[0043] Specifically, the first opening 16 and the second opening 17 have the same size. The first opening 16 and the second opening 17 of the same size can make the external components or other parts more universal when connected. Since they have the same size, they can be connected with the same connectors or accessories, which simplifies the design and installation process. The first opening 16 and the second opening 17 of the same size can achieve interchangeability of parts. If a part needs to be replaced or replaced, it only needs to be removed from one opening and then installed on another opening without considering the problem of size mismatch, thereby improving the interchangeability and replaceability of parts.

[0044] Specifically, in this embodiment, the first opening 16 and the second opening 17 have the same size for rotatably connecting two / three shells.

[0045] Specifically, a first slot 14 is formed on the housing 11 , and the first slot 14 is used to facilitate installation and removal of the stopper 13 .

[0046] Specifically, a connecting member 22 is disposed on the end cover 21 . In this embodiment, the connecting member 22 is a bolt. The connecting member 22 is used to connect the end cover 21 and the housing 11 .

[0047] Specifically, the robot joint further includes a second joint assembly 5 and a third joint assembly 6 used in conjunction with the first joint assembly 1 , and the second joint assembly 5 and the third joint assembly 6 have the same structure as the first joint assembly 1 .

[0048] Specifically, the first joint assembly 1 includes two housings 11 and a driving member 12 , and the rotation axes of the two housings 11 are perpendicular to each other.

[0049] Specifically, in other embodiments, the second joint assembly 5 and the third joint assembly 6 each have only one driving assembly.

[0050] Specifically, two adjacent joint components are connected via the swing arm 4 .

[0051] Specifically, the free end of the third joint assembly 6 is provided with an actuator 7, which may be a clamping claw / suction cup, and the robot joint further includes other driving components used in conjunction with the clamping claw / suction cup.

[0052] Specifically, in other embodiments, a centrifugal fan is also provided on the driving member 12 / housing 11 / end cover 21, and fins 23 are arranged in a circular array around the centrifugal fan. The centrifugal fan is used for airflow to flow through the fins 23 to achieve a better heat dissipation effect.

[0053] Specifically, the housing 11 / end cover 21 is also provided with a cover for semi-covering / protecting the centrifugal fan.

[0054] Specifically, the end cover 21 is also provided with a conical platform for latching / snapping with the housing 11 .

[0055] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A robot joint that facilitates heat dissipation of a motor, comprising a first joint assembly (1); characterized in that: The first joint component (1) comprises a housing (11) and a driving member (12) arranged in the housing (11), the housing (11) being used to connect to an external component, and the driving member (12) being used to drive the housing (11) to be movable relative to the external component; The housing (11) is provided with an end cover (21) which cooperates with the housing (11) and is used to encapsulate the driving component (12) in the housing (11). The end cover (21) and / or the housing (11) are provided with fins (23) which are used to accelerate the dissipation of heat generated by the driving component (12).

2. A robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: The end cover (21) and / or the housing (11) and the fins (23) are manufactured through an integral forming process.

3. A robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: The end cover (21) and / or the housing (11) and the fins (23) are made of heat dissipation material.

4. A robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: The end cover (21) is provided with a blind groove, which is formed by being recessed from the outer surface of the end cover (21). The number of fins (23) is multiple, and the multiple fins (23) are spaced apart from each other and arranged in parallel. The fins (23) are located in the blind groove, and the free ends of the fins (23) do not protrude from the end surface of the end cover (21) away from the shell (11).

5. A robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: The first joint assembly (1) further comprises a stopper (13) arranged on the housing (11), wherein one end of the stopper (13) close to the driving member (12) abuts against a side wall of the driving member (12).

6. A robot joint for facilitating heat dissipation of a motor according to claim 5, characterized in that: The stopper (13) is made of a heat dissipation material, and the stopper (13) is in contact with the end cover (21) / fin (23).

7. A robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: A third opening (18) is provided on one end of the shell (11) away from the base (3). The third opening (18) is arranged obliquely relative to the shell (11), and the upper end of the driving member (12) protrudes out of the end surface of the third opening (18).

8. The robot joint for facilitating heat dissipation of a motor according to claim 1, characterized in that: The housing (11) is provided with a first opening (16) and a second opening (17) for connecting an external component, and the first opening (16) and the second opening (17) are both provided with a second slot (15) for displaying the reset state of the housing (11).

9. A robot joint for facilitating heat dissipation of a motor according to claim 8, characterized in that: The first opening (16) is used to connect the housing (11) to an external base (3) / a second opening (17) / an external actuator (7) on another housing (11), and the second opening (17) is used to connect the housing (11) to a first opening (16) / an external actuator (7) on another housing (11).

10. A robot joint that facilitates heat dissipation of a motor according to claim 8, characterized in that: The first opening (16) and the second opening (17) have the same size.

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