Long-endurance joint module heat dissipation connecting structure based on quadruped robot

Abstract

The utility model discloses a long-endurance joint module heat dissipation connecting structure based on a quadruped robot, which comprises a motor module I, a motor module II and a motor module III, and is characterized by further comprising a joint module assembly, the joint module assembly is provided with a heat dissipation connecting base used for being connected with the first motor module, the second motor module and the third motor module. The first motor module comprises a first connecting piece connected with the heat dissipation connecting base, and a base driving motor is installed on the inner side of the first connecting piece. The second motor module comprises a second connecting piece connected with the first connecting piece, and a thigh driving motor is installed on the inner side of the second connecting piece; the third motor module comprises a third connecting piece connected with the second connecting piece through a heat dissipation connecting piece, and a shank driving motor is installed on the inner side of the third connecting piece. The heat dissipation base and the heat dissipation connecting piece are designed, so that the performance of the long-endurance joint module can be optimized, and the heat dissipation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of quadruped robots, in particular to a heat dissipation connection structure for a long endurance joint module of a quadruped robot. Background Technique

[0002] The original invention CN219154620U is a joint module for a quadruped robot and a quadruped robot using the joint module. The joint module includes a motor housing, and a reduction gear unit and a motor unit are arranged on the motor housing. A motor connecting plate for enclosing and integrating the reduction gear unit and the motor unit inside the motor housing is arranged on one side of the motor housing, and a motor drive board is connected to the motor connecting plate. In the prior art, since the motor housing is closed and the motor heat dissipation is not considered, when the endurance is long and the load is high, the temperature is too high and it is easy to damage the internal parts of the motor and the circuit board components. Content of the Utility Model

[0003] The purpose of the utility model is to provide a heat dissipation connection structure for a long endurance joint module of a quadruped robot, so as to solve the problems put forward in the above background technique.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A heat dissipation connection structure for a long endurance joint module of a quadruped robot, including Motor Module 1, Motor Module 2 and Motor Module 3, and also including

[0005] a joint module assembly, and the joint module assembly is provided with a heat dissipation connection base for connecting Motor Module 1, Motor Module 2 and Motor Module 3;

[0006] Motor Module 1, Motor Module 1 includes a connecting piece 1 connected to the heat dissipation connection base, and a base drive motor is installed inside the connecting piece 1, and a heat dissipation opening 1 is also arranged on the side wall of the connecting piece 1;

[0007] Motor Module 2, Motor Module 2 includes a connecting piece 2 connected to the connecting piece 1, and a thigh drive motor is installed inside the connecting piece 2, and a heat dissipation opening 2 is arranged on one side of the connecting piece 2;

[0008] Motor Module 3, Motor Module 3 includes a connecting piece 3 connected to the connecting piece 2 through a heat dissipation connecting piece, and a calf drive motor is installed inside the connecting piece 3;

[0009] Heat dissipation fins are evenly arranged in a ring on the outer sides of the base drive motor, the thigh drive motor and the calf drive motor, and a motor control circuit board is arranged at one end of the thigh drive motor, and a heat dissipation cover plate is installed on the outside of the motor control circuit board.

[0010] Further, the size of the opening of the first heat dissipation port is one-third of the perimeter of the connecting piece, and the width of the first connecting piece is half of the width of the base driving motor.

[0011] Further, the size of the opening of the second heat dissipation port is half of the perimeter of the second connecting piece, and rectangular heat dissipation holes are provided on the side walls of the second connecting piece on both sides of the second heat dissipation port. The width of the second connecting piece is equal to the width of the thigh driving motor.

[0012] Further, the third connecting piece is connected to one end of the calf driving motor, and connecting grooves are evenly arranged on the side wall of the third connecting piece. The connecting grooves are used for installing and fixing the connecting bolts of the calf driving motor.

[0013] Further, the heat dissipation fins are arranged in an arc arrangement, and the distance between two adjacent heat dissipation fins is twice the thickness of a single heat dissipation fin.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows: For the heat dissipation connection structure of the long endurance joint module of the quadruped robot, by providing the first heat dissipation port on the side wall of the first connecting piece of the base driving motor, providing the second heat dissipation port on one side of the second connecting piece of the thigh driving motor, and installing the third connecting piece at one end of the calf driving motor, each connection structure adopts a semi-open structure, greatly improving the heat dissipation capacity of the base motor, optimizing the heat dissipation structure of the motor connection base, and using heat dissipation connecting pieces to connect the motor modules, increasing the heat dissipation space gap, which can effectively reduce the heat retention rate between the motor and the connecting piece. At the same time, the heat dissipation fins arranged on the outside of each motor improve the heat transfer efficiency while ensuring the supporting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the three-dimensional front view structural schematic diagram of the present utility model;

[0016] Figure 2 is the structural schematic diagram of the thigh driving motor connecting piece of the present utility model;

[0017] Figure 3 is the structural schematic diagram of the calf driving motor connecting piece of the present utility model;

[0018] Figure 4 is the side view structural schematic diagram of the present utility model;

[0019] In the figure: 1. Base drive motor; 2. Thigh drive motor; 3. Calf drive motor; 4. Heat dissipation fin; 5. First connecting piece; 501. First heat dissipation port; 6. Heat dissipation connecting piece; 7. Heat dissipation connecting base; 8. Second connecting piece; 801. Rectangular heat dissipation hole; 802. Second heat dissipation port; 9. Third connecting piece; 901. Connecting groove; 10. Heat dissipation cover plate; 11. First motor module; 12. Second motor module; 13. Third motor module; 14. Joint module assembly; 15. Motor control circuit board. Detailed implementation manner

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0021] Please refer to Figures 1-4 , an embodiment provided by the present invention: A heat dissipation connection structure for a long-endurance joint module of a quadruped robot, including a first motor module 11, a second motor module 12, and a third motor module 13, and further including

[0022] a joint module assembly 14, and the joint module assembly 14 is provided with a heat dissipation connecting base 7 for connecting the first motor module 11, the second motor module 12, and the third motor module 13.

[0023] The first motor module 11 includes a first connecting piece 5 connected to the heat dissipation connecting base 7, and a base drive motor 1 is installed inside the first connecting piece 5, and a first heat dissipation port 501 is further provided on the side wall of the first connecting piece 5.

[0024] When the base drive motor 1 rotates, the first heat dissipation port 501 of the first connecting piece 5 will reduce the heat retention rate and ensure the heat dissipation effect of the base drive motor 1.

[0025] The second motor module 12 includes a second connecting piece 8 connected to the first connecting piece 5, and a thigh drive motor 2 is installed inside the second connecting piece 8, and a second heat dissipation port 802 is provided on one side of the second connecting piece 8.

[0026] When the thigh drive motor 2 rotates, the rectangular heat dissipation holes 801 and the second heat dissipation port 802 of the second connecting piece 8 will effectively ensure the heat dissipation efficiency.

[0027] The third motor module 13 includes a third connecting piece 9 connected to the second connecting piece 8 through a heat dissipation connecting piece 6, and a calf drive motor 3 is installed inside the third connecting piece 9.

[0028] The heat dissipation connecting piece 6 ensures the volatilization of the heat generated by the rotation between the thigh drive motor 2 and the calf.

[0029] On the outer sides of the base drive motor 1, the thigh drive motor 2, and the calf drive motor 3, heat dissipation fins 4 are uniformly arranged in a ring shape. One end of the thigh drive motor 2 is provided with a motor control circuit board 15, and a heat dissipation cover plate 10 is installed on the outer side of the motor control circuit board 15.

[0030] The heat dissipation cover plate 10 accelerates the volatilization of the heat generated by the motor control circuit board.

[0031] The size of the opening of the first heat dissipation port 501 is one-third of the circumference of the first connecting member 5, and the width of the first connecting member 5 is half of the width of the base drive motor 1.

[0032] The size of the opening of the second heat dissipation port 802 is half of the circumference of the second connecting member 8. Rectangular heat dissipation holes 801 are provided on the side walls of the second connecting member 8 on both sides of the second heat dissipation port 802. The width of the second connecting member 8 is equal to the width of the thigh drive motor 2.

[0033] The third connecting member 9 is connected to one end of the calf drive motor 3, and connecting grooves 901 are uniformly provided on the side wall of the third connecting member 9. The connecting grooves 901 are used to install and fix the connecting bolts of the calf drive motor 3.

[0034] Each connection structure adopts a semi-open structure, greatly improving the heat dissipation capacity of the base motor and optimizing the heat dissipation structure of the motor connection base.

[0035] The heat dissipation fins 4 are arranged in an arc shape, and the distance between two adjacent heat dissipation fins 4 is twice the thickness of a single heat dissipation fin 4.

[0036] While ensuring the supporting effect, the heat transfer efficiency is improved.

[0037] When the present application embodiment is in use, as shown in the appendix Figure 1 When the base drive motor 1 rotates in a rolling manner to drive the connected thigh drive motor 2 to rotate in a rolling manner, and when the thigh drive motor 2 rotates in a pitching manner to drive the connected calf drive motor 3 to rotate in a pitching manner, when the base drive motor 1 rotates, the first heat dissipation port 501 of the first connecting member 5 will reduce the heat retention rate. When the thigh drive motor 2 rotates, the rectangular heat dissipation holes 801 and the second heat dissipation port 802 of the second connecting member 8 will effectively ensure the heat dissipation efficiency. The heat dissipation connecting member 6 ensures the volatilization of the heat generated by the rotation between the thigh drive motor 2 and the calf. Each drive motor has heat dissipation fins 4 to further accelerate the heat dissipation efficiency. The heat dissipation cover plate 10 accelerates the volatilization of the heat generated by the motor control circuit board. The adopted heat dissipation connection structure improves the problem of heat accumulation not dissipating during long-term operation while ensuring stability, greatly improving the working state and efficiency of the joint module during long-term operation.

[0038] Obviously, the embodiments described above are only a part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0041] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A heat dissipation connection structure for a long endurance joint module of a quadruped robot, comprising a first motor module (11), a second motor module (12) and a third motor module (13), characterized in that: It further includes a joint module assembly (14), and the joint module assembly (14) is provided with a heat dissipation connection base (7) for connecting the first motor module (11), the second motor module (12) and the third motor module (13); the first motor module (11), the first motor module (11) includes a first connector (5) connected to the heat dissipation connection base (7), and a base drive motor (1) is installed inside the first connector (5), and a first heat dissipation port (501) is further provided on the side wall of the first connector (5); the second motor module (12), the second motor module (12) includes a second connector (8) connected to the first connector (5), and a thigh drive motor (2) is installed inside the second connector (8), and a second heat dissipation port (802) is provided on one side of the second connector (8); the third motor module (13), the third motor module (13) includes a third connector (9) connected to the second connector (8) through a heat dissipation connector (6), and a calf drive motor (3) is installed inside the third connector (9); heat dissipation fins (4) are uniformly arranged in a ring shape on the outer sides of the base drive motor (1), the thigh drive motor (2) and the calf drive motor (3), and a motor control circuit board (15) is provided at one end of the thigh drive motor (2), and a heat dissipation cover plate (10) is installed on the outer side of the motor control circuit board (15).

2. The heat dissipation connection structure of a long-endurance joint module for a quadruped robot according to claim 1, wherein: The size of the opening of the first heat dissipation port (501) is one-third of the circumference of the first connector (5), and the width of the first connector (5) is half of the width of the base drive motor (1).

3. A heat dissipation connection structure for a long endurance joint module of a quadruped robot according to claim 1, characterized in that: The size of the opening of the second heat dissipation port (802) is half of the circumference of the second connector (8), and rectangular heat dissipation holes (801) are provided on the side walls of the second connector (8) on both sides of the second heat dissipation port (802), and the width of the second connector (8) is equal to the width of the thigh drive motor (2).

4. A heat dissipation connection structure for a long endurance joint module of a quadruped robot according to claim 1, characterized in that: The third connector (9) is connected to one end of the calf drive motor (3), and connection grooves (901) are uniformly provided on the side wall of the third connector (9), and the connection grooves (901) are used for installing connection bolts for fixing the calf drive motor (3).

5. A heat dissipation connection structure for a long endurance joint module of a quadruped robot according to claim 1, characterized in that: The heat dissipation fins (4) are arranged in an arc shape, and the distance between two adjacent heat dissipation fins (4) is twice the thickness of a single heat dissipation fin (4).

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