Collaborative robot and joint structure thereof, joint servo drive heat dissipation device

Abstract

The present application relates to a collaborative robot and its joint structure, a joint servo drive heat dissipation device, a joint control board and a power drive board are conductively connected; the control board heat dissipation sheet metal is used to be fixed on the shell fixing platform of the collaborative robot joint structure, and is in contact with the joint control board; the drive board heat dissipation sheet metal is used to be fixed on the shell fixing platform of the collaborative robot joint structure, and is in contact with the power drive board. Through circuit design and structural simplification, the heat generated inside the joint module of the collaborative robot can be quickly exported to the shell, while the heat source is reduced in principle to prevent the instability of the collaborative robot control system caused by overheating, thereby solving the power heat dissipation of the joint drive board, especially the heat dissipation problem of the power drive circuit, and then solving the heat dissipation problem of the joint module board, thereby ensuring the design life of the collaborative robot and ensuring that the collaborative robot can work stably and reliably for a long time.

Description

Technical Field

[0001] The present application relates to the field of collaborative robots, and in particular to collaborative robots and their joint structures, and joint servo-driven heat dissipation devices. Background Art

[0002] Collaborative robots are a type of robot that can be used in industry, medical care and other fields. Collaborative robots can work together with humans on production lines or workstations to give full play to the robots' repeatability and efficiency advantages and humans' intelligence advantages.

[0003] The drivers of collaborative robots, especially collaborative manipulators, are usually integrated into the joint arm module. However, the module space is limited, and the reducer, servo motor, brake and encoder are also integrated in the limited space. Among them, the reducer, servo motor, brake and driver are all heat-generating components. As the temperature rises, the life of electronic components shortens exponentially. Therefore, it is necessary to avoid excessive temperature inside the joint arm module.

[0004] However, as the power output of collaborative robots increases, the heat dissipation problem of module circuit boards becomes more serious, forming a factor that restricts the output power of collaborative robots. Utility Model Content

[0005] Based on this, it is necessary to provide a collaborative robot and its joint structure, and a joint servo drive heat dissipation device.

[0006] In one embodiment, a collaborative robot joint servo drive heat dissipation device includes a joint control board, a control board heat dissipation sheet metal, a power drive board, and a drive board heat dissipation sheet metal;

[0007] The joint control board is conductively connected to the power drive board;

[0008] The control panel heat dissipation sheet metal is used to be fixed on the housing fixing platform of the collaborative robot joint structure, and the control panel heat dissipation sheet metal is in contact with the joint control panel for heat dissipation;

[0009] The drive plate heat dissipation sheet metal is used to be fixed on the shell fixing platform of the collaborative robot joint structure, and the drive plate heat dissipation sheet metal is in contact with the power drive plate for heat dissipation.

[0010] The above-mentioned collaborative robot joint servo drive heat dissipation device, through circuit design and structural simplification, enables the heat generated inside the joint module of the collaborative robot to be quickly discharged to the outer casing, while reducing the heat source in principle to prevent instability of the collaborative robot control system caused by overheating, thereby solving the power heat dissipation of the joint drive board, especially the heat dissipation problem of the power drive circuit, and then solves the heat dissipation problem of the joint module board, thereby ensuring the design life of the collaborative robot and ensuring that the collaborative robot can work stably and reliably for a long time.

[0011] In one embodiment, the control board heat dissipation sheet metal is in contact with the joint control board through heat dissipation glue for heat dissipation by conduction; and / or,

[0012] The driving board heat dissipation sheet metal is in contact with the power driving board through heat dissipation glue, and is used for heat dissipation in a conduction manner.

[0013] In one embodiment, the control board heat dissipation sheet metal is fixed to the drive board heat dissipation sheet metal by a heat-conducting prism, a heat-conducting cylinder or a heat-conducting elliptical cylinder; and / or,

[0014] The joint control board and the power drive board are integrated into one body.

[0015] In one embodiment, the joint control plate is an aluminum substrate; and / or,

[0016] The power driving board is an aluminum substrate.

[0017] In one embodiment, the joint control board and the power drive board are both aluminum substrates;

[0018] The control panel heat dissipation sheet metal part is in direct contact with the joint control panel and is fixed by a plug-in connector or a screw connector;

[0019] The driving board heat dissipation sheet metal part is in direct contact with the power driving board and is fixed by a plug-in connector or a screw connector.

[0020] In one of the embodiments, the power driving board has two opposite sides, one side is provided with a power device, and the other side is in contact with the heat dissipation sheet metal of the driving board.

[0021] In one embodiment, the power device of the power driving board includes two MOS tubes arranged in parallel; or,

[0022] The collaborative robot joint servo drive heat dissipation device also includes a heat dissipation pipe adjacent to the power device, the heat dissipation pipe is used to be fixed on the shell fixing platform of the collaborative robot joint structure, and the heat dissipation pipe is arranged in contact with the drive plate heat dissipation sheet metal; or,

[0023] In the power driving board, the power devices are arranged according to the heat generation, and the distances from the power devices to the housing fixing platform are arranged from near to far in the order of heat generation from large to small.

[0024] In one of the embodiments, a collaborative robot joint structure includes a joint module housing, a housing fixing platform, and a collaborative robot joint servo drive heat dissipation device as described in any one of the embodiments;

[0025] The housing fixing platform is arranged inside the joint module housing and contacts the joint module housing to dissipate heat;

[0026] The collaborative robot joint servo drive heat dissipation device is located inside the joint module housing, and the control board heat dissipation sheet metal and the drive board heat dissipation sheet metal of the collaborative robot joint servo drive heat dissipation device are both fixed on the housing fixing platform.

[0027] In one of the embodiments, the housing fixing platform is extended with wings to increase the contact area with the joint module housing and the control board heat dissipation sheet metal and the drive board heat dissipation sheet metal.

[0028] In one embodiment, a collaborative robot includes a robotic arm and the collaborative robot joint structure of any embodiment, wherein the robotic arm is connected to the collaborative robot joint structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 This is a structural schematic diagram of an embodiment of the collaborative robot joint structure described in this application.

[0031] Figure 2 for Figure 1 Another schematic diagram of the embodiment shown.

[0032] Figure 3 This is a structural schematic diagram of an embodiment of the collaborative robot joint servo drive heat dissipation device described in this application.

[0033] Figure 4 This is a schematic diagram of the power drive circuit principle of another embodiment of the collaborative robot joint servo drive heat dissipation device described in this application.

[0034] Figure numerals: collaborative robot joint structure 100, collaborative robot joint servo drive heat dissipation device 200, joint control board 101, control board heat dissipation sheet metal 102, power drive board 103, power drive board heat dissipation sheet metal 104, joint module housing 105, housing fixing platform 106, control chip 301, drive chip 302, first MOS tube 303, second MOS tube 304, servo motor 305. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0036] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are in contact indirectly through an intermediate medium. Moreover, a first feature being “above”, “above”, or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0040] The present application discloses a collaborative robot and its joint structure, and a joint servo drive heat dissipation device, which include some or all of the technical features of the following embodiments; that is, the collaborative robot and its joint structure, and the joint servo drive heat dissipation device include some or all of the following structures. In one embodiment of the present application, a collaborative robot joint servo drive heat dissipation device includes a joint control panel, a control panel heat dissipation sheet metal, a power drive panel, and a drive panel heat dissipation sheet metal; the joint control panel is conductively connected to the power drive panel; the control panel heat dissipation sheet metal is used to be fixed on the outer shell fixing platform of the collaborative robot joint structure, and the control panel heat dissipation sheet metal is in contact with the joint control panel for heat dissipation; the drive panel heat dissipation sheet metal is used to be fixed on the outer shell fixing platform of the collaborative robot joint structure, and the drive panel heat dissipation sheet metal is in contact with the power drive panel for heat dissipation. The above-mentioned collaborative robot joint servo drive heat dissipation device, through circuit design and structural simplification, enables the heat generated inside the joint module of the collaborative robot to be quickly discharged to the outer casing, while reducing the heat source in principle to prevent instability of the collaborative robot control system caused by overheating, thereby solving the power heat dissipation of the joint drive board, especially the heat dissipation problem of the power drive circuit, and then solves the heat dissipation problem of the joint module board, thereby ensuring the design life of the collaborative robot and ensuring that the collaborative robot can work stably and reliably for a long time.

[0041] Combine the following Figures 1 to 4 , the collaborative robot and its joint structure, and the joint servo drive heat dissipation device are described in detail.

[0042] Collaborative robots can be used in various industrial, medical and commercial fields. With the promotion of application scenarios, higher requirements are placed on the output power of collaborative robots. The load driven is getting larger and larger, and the operating speed is getting faster and faster. Therefore, the current to be driven by its joint drive board also increases accordingly, and the temperature of the overall joint module board also increases accordingly. The temperature increase has a huge impact on the design life of the driver and is an important factor for the stable and reliable long-term operation of the entire manipulator. Therefore, the power heat dissipation of the joint drive board, especially the heat dissipation of the power drive circuit, is solved. In one embodiment, a collaborative robot includes a mechanical arm and a collaborative robot joint structure 100 described in any embodiment, and the mechanical arm is connected to the collaborative robot joint structure 100. It can be understood that the collaborative robot can be provided with a plurality of the mechanical arms, and can also be provided with a plurality of the collaborative robot joint structures 100, and the embodiments of the present application do not impose special restrictions on this.

[0043] In this embodiment, a collaborative robot joint structure 100 is as follows Figure 1 As shown, it includes a joint module housing 105 and a housing fixing platform 106, wherein the housing fixing platform 106 is disposed inside the joint module housing 105 and contacts the joint module housing 105 to dissipate heat. Figure 1 and Figure 2 , the collaborative robot joint structure 100 further includes the collaborative robot joint servo drive heat dissipation device 200 described in any embodiment; the collaborative robot joint servo drive heat dissipation device 200 is located inside the joint module housing 105, and the collaborative robot joint servo drive heat dissipation device 200 is fixed on the housing fixing platform 106. In one embodiment, the collaborative robot joint servo drive heat dissipation device 200 is located inside the joint module housing 105, and the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104 of the collaborative robot joint servo drive heat dissipation device 200 are both fixed on the housing fixing platform 106. With such a structural design, the heat of the collaborative robot joint servo drive heat dissipation device 200, mainly the heat of the joint control board 101 and the power drive board 103 therein, is conducted to the outer shell fixing platform 106 through the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104, and then conducted to the joint module outer shell 105 through the outer shell fixing platform 106, so that the heat generated inside the joint module of the collaborative robot can be quickly exported to the joint module outer shell 105, and then dissipated through the joint module outer shell 105, for example, dissipated into the environment.

[0044] The collaborative robot joint servo drive heat dissipation device 200 is a joint drive template group with a heat dissipation structure. In this embodiment, Figure 2 and Figure 3As shown, the collaborative robot joint servo drive heat dissipation device 200 includes a joint control board 101, a control board heat dissipation sheet metal 102, a power drive board 103 and a drive board heat dissipation sheet metal 104; the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104 are both fixed on the housing fixing platform 106; in one embodiment, the joint control board 101 and the power drive board 103 are also respectively fixed on the housing fixing platform 106. In addition, the joint control board 101, the control board heat dissipation sheet metal 102, the power drive board 103 and the drive board heat dissipation sheet metal 104 are all located inside the joint module housing 105. Such a structural design simplifies the circuit design and structural design. It only needs to set the control circuit on the joint control board 101 and the drive circuit on the power drive board 103, and then assemble to achieve the heat dissipation optimization design, which reduces the heat source in principle and prevents the instability of the collaborative robot control system caused by overheating.

[0045] In each embodiment, the joint control board 101 in the collaborative robot joint servo drive heat dissipation device 200 is conductively connected to the power drive board 103. Exemplarily, the joint control board 101 receives an external control signal and drives the motor through the power drive board 103 to adjust the position of the robot arm or enable the robot arm to move, rotate, clamp or release.

[0046] In order to achieve effective heat dissipation for the joint control board 101, in each embodiment, the control board heat dissipation sheet metal 102 is used to be fixed on the shell fixing platform 106 of the collaborative robot joint structure 100, and the control board heat dissipation sheet metal 102 is in contact with the joint control board 101 for heat dissipation. In one embodiment, the control board heat dissipation sheet metal 102 is in contact with the joint control board 101 through heat dissipation glue, which is used to dissipate heat by conduction. Such a structural design is conducive to forming a chain conduction heat dissipation system inside the collaborative robot joint structure 100, which reduces the heat source in principle and prevents the instability of the collaborative robot control system caused by overheating, thereby solving the power heat dissipation of the joint drive board, especially the heat dissipation problem of the power drive circuit, and then solves the heat dissipation problem of the joint module board.

[0047] In order to achieve effective heat dissipation for the power drive board 103, in each embodiment, the drive board heat dissipation sheet metal 104 is used to be fixed on the shell fixing platform 106 of the collaborative robot joint structure 100, and the drive board heat dissipation sheet metal 104 is in contact with the power drive board 103 for heat dissipation. In one embodiment, the drive board heat dissipation sheet metal 104 is in contact with the power drive board 103 through heat dissipation glue, which is used to dissipate heat by conduction. Similarly, such a structural design is conducive to forming a chain conduction heat dissipation system inside the collaborative robot joint structure 100, which reduces the heat source in principle and prevents the instability of the collaborative robot control system caused by overheating, thereby solving the power heat dissipation of the joint drive board, especially the heat dissipation problem of the power drive circuit, and then solves the heat dissipation problem of the joint module board.

[0048] In order to improve the heat dissipation effect of the collaborative robot joint servo drive heat dissipation device 200, in one embodiment, the shell fixing platform 106 is extended with a wing to increase the contact area with the joint module housing 105 and the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104, that is, the wing is extended outward relative to other parts of the shell fixing platform 106, so that the shell fixing platform 106 has a larger contact area with the joint module housing 105, and the shell fixing platform 106 also has a larger contact area with the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104. Further, in one embodiment, the shell fixing platform 106 is provided with a body, and the wing is symmetrically arranged relative to the body and distributed on both sides of the body. Such a structural design is conducive to providing a larger conductive heat dissipation area inside the collaborative robot joint structure 100, so that the heat generated inside the joint module of the collaborative robot can be quickly exported to the shell.

[0049] In order to facilitate the overall fixed installation of the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104, further, in one of the embodiments, the control board heat dissipation sheet metal 102 is fixed to the drive board heat dissipation sheet metal 104 through a heat conductive structure, so that the heat of the drive board heat dissipation sheet metal 104 can be transferred to the control board heat dissipation sheet metal 102 through the heat conductive structure. In one of the embodiments, the heat conductive structure includes a heat conductive prism, a heat conductive cylinder or a heat conductive elliptical cylinder, that is, the control board heat dissipation sheet metal 102 is fixed to the drive board heat dissipation sheet metal 104 through a heat conductive prism, a heat conductive cylinder or a heat conductive elliptical cylinder. Further, in one of the embodiments, the control board heat dissipation sheet metal 102 is plugged and fixed to the drive board heat dissipation sheet metal 104 through the heat conductive structure in a plug-in manner. Such a structural design, on the one hand, is conducive to the rapid assembly of the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104, and on the other hand, is conducive to balanced heat dissipation, so that the heat of the drive board heat dissipation sheet metal 104 can be transferred to the control board heat dissipation sheet metal 102 through the heat-conducting structural parts, and then dissipated to the joint module housing 105 through the housing fixing platform 106, thereby effectively avoiding local accumulation of heat, and further optimizing and solving the heat dissipation problem of the power drive circuit.

[0050] In order to further simplify the structure of the collaborative robot joint servo drive heat dissipation device 200, in one embodiment, the joint control board 101 is integrated with the power drive board 103. With such a structural design, the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104 are respectively in contact with the integral plate of the joint control board 101 and the power drive board 103, for heat dissipation.

[0051] In order to further improve the heat conduction and heat dissipation of the joint control board 101 and the power drive board 103, in one embodiment, the joint control board 101 is an aluminum substrate; or the power drive board 103 is an aluminum substrate; or the joint control board 101 and the power drive board 103 are both aluminum substrates; the rest of the embodiments are similar and will not be described in detail. The aluminum substrate is a metal-based copper-clad plate, which usually includes a circuit layer, an insulating layer and an aluminum-containing metal base layer, and has better heat dissipation performance than traditional PCB boards.

[0052] In order to further improve the heat dissipation effect of the joint control board 101 and the power drive board 103, in one embodiment, the joint control board 101 and the power drive board 103 are both aluminum substrates, and the control board heat dissipation sheet metal 102 is directly in contact with the joint control board 101 and fixed by a connector or a screw; the drive board heat dissipation sheet metal 104 is directly in contact with the power drive board 103 and fixed by a connector or a screw. Such a structural design can achieve heat conduction through a connector or a screw, and the heat of the joint control board 101 and the power drive board 103, especially the heat of the aluminum-containing metal base, is conducted to the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104 through the connector or the screw, and then dissipated to the joint module housing 105 through the housing fixing platform 106.

[0053] Similarly, in one embodiment, the joint control board 101 and the power drive board 103 are integrated aluminum substrates, and the control board heat dissipation sheet metal 102 and the drive board heat dissipation sheet metal 104 are respectively in contact with the overall plate of the integrated joint control board 101 and the power drive board 103, and are fixed by plug-in connectors or screw connectors; the remaining embodiments are similar and will not be elaborated on.

[0054] Furthermore, in one embodiment, the connector is a copper column, part of the connector is in close contact with the control board heat dissipation sheet metal 102 and the integral plate of the joint control board 101 and the power drive board 103, and the gap is filled with heat dissipation glue; the rest of the connector is in close contact with the drive board heat dissipation sheet metal 104 and the integral plate of the joint control board 101 and the power drive board 103, and the gap is also filled with heat dissipation glue. Such a structural design is conducive to improving the heat dissipation effect of the joint control board 101 and the power drive board 103.

[0055] Alternatively, in one embodiment, the connector is a screw, some of the screws are screwed to the control board heat dissipation sheet metal 102 and the integral plate of the joint control board 101 and the power drive board 103, and the gap is filled with heat dissipation glue; the remaining screws are screwed to the drive board heat dissipation sheet metal 104 and the integral plate of the joint control board 101 and the power drive board 103, and the gap is also filled with heat dissipation glue. Such a structural design is also conducive to improving the heat dissipation effect of the joint control board 101 and the power drive board 103.

[0056] In order to ensure the heat dissipation effect of the power driving board 103, in one embodiment, the power driving board 103 has two opposite sides, one of which is provided with power devices, and the other side is in contact with the driving board heat dissipation sheet metal 104. That is, the power device is provided on one side of the power driving board 103, and the other side is in contact with the driving board heat dissipation sheet metal 104. In one embodiment, the metal oxide semiconductor field effect transistor (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, referred to as MOS tube) of the power driving board 103 is welded on the front of the power driving board 103, and the upper surface of the MOS tube is radiated by air, and the main heat is transferred to the power heat dissipation sheet metal through the back of the MOS tube through the copper sheet of the PCB. In one embodiment, the power driving board 103 adopts an aluminum substrate, on which power devices such as MOS tubes are directly welded, and then the heat is conducted to the joint module housing 105 through the aluminum substrate. In one embodiment, the joint control board 101 and the power driving board 103 are integrated on the same board and designed in an aluminum substrate manner. In this way, through circuit design and simplified structural design, the heat generated inside the joint module of the collaborative robot can be quickly exported to the joint module housing 105, while at the same time reducing the heat source in principle to prevent instability of the control system caused by overheating.

[0057] In order to further improve the heat dissipation effect of the power driving board 103, in one embodiment, the power devices in the power driving board 103 are sorted according to the heat generation, and the distances from the power devices to the housing fixing platform 106 are set from near to far in the order of heat generation from large to small. With such a structural design, the power devices with large heat generation are closer to the housing fixing platform 106 than the power devices with small heat generation, thereby obtaining a more superior heat dissipation condition, which is conducive to solving the heat dissipation problem of the joint module board, thereby ensuring the design life of the collaborative robot and ensuring that the collaborative robot can work stably and reliably for a long time.

[0058] Taking into account that the heat dissipation demand of the power driving board 103 is usually higher than that of the joint control board 101, in one embodiment, the collaborative robot joint servo drive heat dissipation device 200 also includes a heat pipe adjacent to the power device, and the heat pipe is used to be fixed on the shell fixing platform 106 of the collaborative robot joint structure 100, and the heat pipe is arranged in contact with the drive board heat dissipation sheet metal 104. Such a structural design is conducive to improving the heat dissipation effect of the power driving board 103, and adapting to the application requirements of the collaborative robot with increasing output power.

[0059] Next, continue to combine Figures 1 to 4, further examples are given for the collaborative robot joint structure 100 and the collaborative robot joint servo drive heat dissipation device 200.

[0060] like Figure 1 As shown, the collaborative robot joint structure 100 includes a joint control board 101, a control board heat dissipation sheet metal 102, a power drive board 103, a power drive board heat dissipation sheet metal 104, a joint module housing 105 and a housing fixing platform 106; the joint control board 101 and the power drive board 103 are connected together through a connector, the joint control board 101 mainly processes signal interaction work, and the power drive board 103 mainly processes power motor drive and power supply work. The joint control board 101 and the control board heat dissipation sheet metal 102 are connected by heat dissipation glue to conduct the heat of the joint control board 101 to the control board heat dissipation sheet metal 102, that is, the control board heat dissipation sheet metal 102 and the joint control board 101 conduct heat dissipation through heat dissipation glue. Because the heat of the joint control board 101 is mainly concentrated in the control chip, the control board heat dissipation sheet metal 102 mainly functions to conduct the heat of the control chip. The control board heat dissipation sheet metal 102 is fixed together with the power drive board heat dissipation sheet metal 104 through a copper column, and the joint control board 101 is connected to the power drive board 103 through a connector for signal connection. The power drive board 103 and the power drive board heat dissipation sheet metal 104 conduct the heat of the power drive board 103 to the power drive board heat dissipation sheet metal 104 through heat dissipation glue, that is, the power drive board heat dissipation sheet metal 104 and the power drive board 103 conduct heat through heat dissipation glue. The power drive board heat dissipation sheet metal 104 is fixed together with the housing fixing platform 106; further, the power drive board heat dissipation sheet metal 104 and the joint module housing 105 conduct heat through heat dissipation glue.

[0061] like Figure 2 and Figure 3 As shown, the collaborative robot joint servo drive heat dissipation device 200 includes a joint control board 101, a control board heat dissipation sheet metal 102, a power drive board 103 and a power drive board heat dissipation sheet metal 104; the power drive board 103 is arranged with a MOS tube for motor drive, and in particular, the MOS tube drive circuit with the largest heat generation is arranged close to the shell fixing platform 106 during PCB layout, which is conducive to shortening the heat conduction path, thereby improving the heat dissipation efficiency; in particular, in order to quickly conduct heat to the joint module shell 105, the contact area between the shell fixing platform 106 and the heat dissipation sheet metal can be increased.

[0062] In order to reduce the heating of the power driving board 103, in one embodiment, the power device of the power driving board 103 includes two MOS tubes arranged in parallel. Such a structural design adopts a dual MOS tube parallel connection mode, which can not only allow the phase current of the motor to be divided into two MOS tubes, reducing the overcurrent pressure of a single MOS tube, but also allow the heat to be divided into two MOS tubes, which will not cause local overheating.

[0063] like Figure 4 As shown, the power drive circuit of the collaborative robot joint structure 100 or the collaborative robot joint servo drive heat dissipation device 200 includes a control chip 301, a drive chip 302, a first MOS tube 303, a second MOS tube 304 and a servo motor 305; the control chip 301 sends a control signal to the drive chip 302, and the drive chip 302 converts the received control signal into voltage and current to drive the first MOS tube 303 and the second MOS tube 304, and the first MOS tube 303 and the second MOS tube 304 drive the phase current of the motor. Furthermore, the wiring harness between the drive chip 302 and the first MOS tube 303 and the second MOS tube 304 is set to be equal in length during PCB layout to meet the requirement of opening two MOS tubes at the same time. Furthermore, in order to allow the first MOS transistor 303 and the second MOS transistor 304 to be turned on synchronously, the first MOS transistor 303 and the second MOS transistor 304 are set to have the same specifications, for example, MOS transistors of the same brand and the same batch are used to achieve consistency of their Vgson, wherein Vgs is the gate-source voltage, and Vgson is the turn-on voltage of the gate-source voltage.

[0064] It should be noted that other embodiments of the present application also include collaborative robots and their joint structures, and joint servo-driven heat dissipation devices that can be implemented by combining the technical features in the above-mentioned embodiments.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A collaborative robot joint servo drive heat dissipation device (200), characterized in that: It comprises a joint control panel (101), a control panel heat dissipation sheet metal component (102), a power drive panel (103) and a drive panel heat dissipation sheet metal component (104); The joint control board (101) is conductively connected to the power drive board (103); The control panel heat dissipation sheet metal part (102) is used to be fixed on a housing fixing platform (106) of a collaborative robot joint structure (100), and the control panel heat dissipation sheet metal part (102) is in contact with the joint control panel (101) for heat dissipation; The drive plate heat dissipation sheet metal part (104) is used to be fixed on a housing fixing platform (106) of the collaborative robot joint structure (100), and the drive plate heat dissipation sheet metal part (104) is in contact with the power drive plate (103) for heat dissipation.

2. The collaborative robot joint servo drive heat dissipation device (200) according to claim 1, characterized in that: The control panel heat dissipation sheet metal (102) is in contact with the joint control panel (101) via heat dissipation adhesive, and is used for heat dissipation in a conduction manner; and / or, The drive board heat dissipation sheet metal part (104) is in contact with the power drive board (103) via heat dissipation adhesive, and is used for dissipating heat in a conduction manner.

3. The collaborative robot joint servo drive heat dissipation device (200) according to claim 1, characterized in that: The control board heat dissipation sheet metal component (102) is fixed to the drive board heat dissipation sheet metal component (104) via a heat-conducting prism, a heat-conducting cylinder or a heat-conducting elliptical cylinder; and / or, The joint control board (101) and the power drive board (103) are integrated into one body.

4. The collaborative robot joint servo drive heat dissipation device (200) according to claim 1, characterized in that: The joint control plate (101) is an aluminum substrate; and / or, The power driving plate (103) is an aluminum substrate.

5. The collaborative robot joint servo drive heat dissipation device (200) according to claim 1, characterized in that: The joint control board (101) and the power drive board (103) are both aluminum substrates; The control panel heat dissipation sheet metal part (102) is in direct contact with the joint control panel (101) and is fixed via a plug-in connector or a screw connector; The drive board heat dissipation sheet metal part (104) is in direct contact with the power drive board (103) and is fixed via a plug-in connector or a screw connector.

6. The collaborative robot joint servo drive heat dissipation device (200) according to any one of claims 1 to 5, characterized in that: The power driving plate (103) has two opposite sides, one side of which is provided with a power device, and the other side is in contact with the driving plate heat dissipation sheet metal component (104).

7. The collaborative robot joint servo drive heat dissipation device (200) according to claim 6, characterized in that: The power device of the power driving board (103) comprises two MOS tubes arranged in parallel; or, The collaborative robot joint servo drive heat dissipation device (200) further comprises a heat dissipation pipe adjacent to the power device, the heat dissipation pipe being used to be fixed on a housing fixing platform (106) of the collaborative robot joint structure (100), and the heat dissipation pipe being arranged in contact with the drive plate heat dissipation sheet metal component (104); or, In the power driving board (103), the power devices are arranged according to heat generation, and the distances between the power devices and the housing fixing platform (106) are arranged from near to far in the order of heat generation from large to small.

8. A collaborative robot joint structure (100), characterized in that: It comprises a joint module housing (105), a housing fixing platform (106), and a collaborative robot joint servo drive heat dissipation device (200) as claimed in any one of claims 1 to 7; The housing fixing platform (106) is arranged inside the joint module housing (105) and is in contact with the joint module housing (105) to dissipate heat; The collaborative robot joint servo drive heat dissipation device (200) is located inside the joint module housing (105), and the control board heat dissipation sheet metal (102) and the drive board heat dissipation sheet metal (104) of the collaborative robot joint servo drive heat dissipation device (200) are both fixed on the housing fixing platform (106).

9. The collaborative robot joint structure (100) according to claim 8, characterized in that: The housing fixing platform (106) is extended with wings to increase the contact area with the joint module housing (105), the control board heat dissipation sheet metal component (102), and the drive board heat dissipation sheet metal component (104).

10. A collaborative robot, characterized in that: It comprises a robotic arm and a collaborative robot joint structure (100) as claimed in any one of claims 8 to 9, wherein the robotic arm is connected to the collaborative robot joint structure (100).

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