PCBA circuit board for collaborative robot

Abstract

The utility model discloses a PCBA circuit board for a collaborative robot, which comprises a PCBA substrate, an electrical layer is arranged on the upper side of the PCBA substrate, an electrical element is assembled on the electrical layer, three copper pipes which are arranged at equal intervals are arranged between a mounting seat and the PCBA substrate, the end parts of adjacent copper pipes are communicated through communicating pipes, and the communicating pipes are connected with the PCBA substrate. The PCBA circuit board for the collaborative robot is characterized in that the PCBA circuit board is provided with a copper pipe, the two ends of the copper pipe located in the middle are communicated and fixedly connected with external pipelines, the external pipelines are fixedly connected with the mounting base, rotating shafts are rotatably mounted on the copper pipes, one ends of the rotating shafts extend into the copper pipes, and a plurality of scraping plates are arranged in the copper pipes. A plurality of synchronous belt mechanisms are matched to drive a plurality of rotating shafts to synchronously rotate, so that a plurality of scraping plates on the rotating shafts rotate around the rotating shafts, the tip ends of the scraping plates are in contact with the inner wall of the copper pipe, and the scraping plates can clean impurities such as water scale attached to the inner wall of the copper pipe in the rotating process; the problem that the conduction efficiency is reduced due to the fact that the incrustation adhesion layer on the inner wall of the copper pipe is too thick is solved.

Description

Technical Field

[0001] This utility model relates to the technical field of PCBA circuit boards, specifically a PCBA circuit board for collaborative robots. Background Technology

[0002] Collaborative robots are designed to work safely and collaboratively with humans in shared spaces. Their core functionality lies in perceiving the environment, adapting to dynamic tasks, and achieving human-robot collaboration through flexible control. Typical applications include industrial manufacturing and service sectors, such as tightening screws on automotive parts, using vision systems to adapt to different models; facilitating material transfer between AGVs and assembly lines in 3C electronics workshops, reducing manual handling intensity; and assisting nurses in instrument delivery or patient transport.

[0003] The PCBA circuit board used in existing collaborative robots is the core control unit of the robot. Current PCBA circuit boards in collaborative robots dissipate heat from their underside through a heat dissipation structure. Specifically, this involves using highly thermally conductive copper pipes with a low-temperature coolant flowing through them, typically water, to achieve rapid heat dissipation. However, over time, scale easily forms on the inner wall of the copper pipes, reducing their thermal conductivity and consequently decreasing heat transfer efficiency, thus affecting the normal heat dissipation function of the heat dissipation structure.

[0004] To address the aforementioned issues, we propose a PCBA circuit board for collaborative robots. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a PCBA circuit board for collaborative robots.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0007] This utility model discloses a PCBA circuit board for collaborative robots, including a PCBA substrate, an electrical layer disposed on the upper side of the PCBA substrate, and electrical components assembled on the electrical layer.

[0008] The PCBA substrate has connecting mechanisms at its four bottom corners, which are connected to the shell of the external collaborative robot. These connecting mechanisms are used to install the PCBA substrate inside the shell of the external collaborative robot. Below the PCBA substrate is a mounting base that is installed on the shell of the external collaborative robot using threaded fasteners. Three copper tubes are arranged at equal intervals between the mounting base and the PCBA substrate. The ends of adjacent copper tubes are connected by a connecting pipe. Both ends of the middle copper tube are connected and fixed to an external pipeline. The external pipeline is fixed to the mounting base. A rotating shaft is rotatably mounted on each copper tube. One end of the rotating shaft extends into the copper tube. Multiple scrapers are provided inside the copper tube, and each scraper is fixed to the rotating shaft.

[0009] As a preferred embodiment of this utility model, the external pipeline is connected to the external water cooling channel.

[0010] As a preferred embodiment of this utility model, a synchronous belt mechanism is installed between adjacent rotating shafts. The synchronous belt mechanism is used to drive the adjacent rotating shafts to rotate synchronously. A motor is fixed on the mounting base, and the output shaft of the motor is fixedly connected to the rotating shaft on one side.

[0011] As a preferred embodiment of this utility model, each copper pipe is equipped with an electromagnetic flow meter, which is used to detect the flow rate of the coolant inside the copper pipe.

[0012] As a preferred embodiment of this utility model, a temperature measuring device is installed on the mounting base and the temperature measuring device is located below the PCBA substrate. The temperature measuring device is used to measure the temperature below the PCBA substrate.

[0013] As a preferred technical solution of this utility model, the connecting mechanism includes a sphere disposed below the PCBA substrate, a screw fixed to the bottom of the sphere, a sleeve fixed at the bottom corner of the PCBA substrate, an outer shell cover provided at the lower end of the sleeve, an insert block fixed at the bottom of the outer shell cover, the insert block being inserted into the sleeve and transitionally fitted, and a rubber sleeve fixed inside the outer shell cover, the inner cavity surface of the rubber sleeve being spherical and matching the shape of the sphere.

[0014] As a preferred embodiment of this utility model, a buffer member is fixed to the top of the rubber sleeve. The buffer member is cylindrical and its upper end is fixedly connected to the outer shell.

[0015] The beneficial effects of this utility model are:

[0016] 1. The PCBA circuit board used in this type of collaborative robot drives a rotating shaft on one side via a motor. This, in conjunction with multiple synchronous belt mechanisms, drives multiple rotating shafts to rotate synchronously. As a result, multiple scrapers on the rotating shafts rotate around the shafts, with the tips of the scrapers contacting the inner wall of the copper tube. Thus, during the rotation, the scrapers can clean the scale and other impurities adhering to the inner wall of the copper tube, avoiding the problem of reduced conduction efficiency caused by excessively thick scale deposits on the inner wall of the copper tube.

[0017] 2. The PCBA circuit board used in this type of collaborative robot is installed by threading the lower end of the screw into the robot housing, then putting the sleeve over the plug, and then inserting the ball into the rubber sleeve. The PCBA circuit board is detachable and easy to install and remove. Because the ball and the rubber sleeve are movable, when the PCBA circuit board is subjected to vibration, the movable characteristics between the ball and the rubber sleeve can buffer the PCBA circuit board. When the PCBA circuit board is subjected to impact, it reduces the stress on the PCBA circuit board. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a side view of the present invention;

[0021] Figure 3 This is an exploded view of the PCBA substrate, outer casing, and copper tube of this utility model;

[0022] Figure 4 This is an enlarged schematic diagram of the internal structure of the copper tube of this utility model;

[0023] Figure 5 This is an exploded schematic diagram of the rubber sleeve and the sphere of this utility model;

[0024] Figure 6 This is a cross-sectional schematic diagram of the copper tube and scraper of this utility model.

[0025] In the diagram: PCBA substrate 1, electrical layer 2, mounting base 3, copper pipe 4, connecting pipe 5, external pipeline 6, rotating shaft 7, scraper 8, synchronous belt mechanism 9, motor 10, ball 11, screw 12, sleeve 13, outer shell cover 14, insert block 15, rubber sleeve 16, buffer component 17, collaborative robot shell 111. Detailed Implementation

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] Example: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, this utility model discloses a PCBA circuit board for a collaborative robot, including a PCBA substrate 1. An electrical layer 2 is disposed on the upper side of the PCBA substrate 1, and electrical components are assembled on the electrical layer 2. Connecting mechanisms are provided at the four corners of the bottom of the PCBA substrate 1, and these mechanisms are connected to the shell of an external collaborative robot. The connecting mechanisms are used to install the PCBA substrate 1 inside the shell of the external collaborative robot. A mounting seat 3 is provided below the PCBA substrate 1 and is installed on the shell of the external collaborative robot using threaded fasteners. Three copper tubes 4 are arranged at equal intervals between the mounting seat 3 and the PCBA substrate 1. The ends of adjacent copper tubes 4 are connected by a connecting pipe 5. Both ends of the middle copper tube 4 are connected and fixedly connected to an external pipeline 6, which is fixedly connected to the mounting seat 3. A rotating shaft 7 is rotatably mounted on each copper tube 4, with one end of the rotating shaft 7 extending into the copper tube 4. Multiple scrapers 8 are provided inside the copper tube 4, and each scraper 8 is fixedly connected to the rotating shaft 7. The external pipeline 6 is connected to an external water-cooling channel.

[0028] Among them, a synchronous belt mechanism 9 is installed between adjacent rotating shafts 7. The synchronous belt mechanism 9 is used to drive the adjacent rotating shafts 7 to rotate synchronously. A motor 10 is fixed on the mounting base 3, and the output shaft of the motor 10 is fixedly connected to the rotating shaft 7 on one side.

[0029] The external water cooling channel introduces water into the external pipe 6 at one end. The water flows through the three copper pipes 4 and then flows back to the external water cooling channel through the external pipe 6 at the other end. The copper pipes 4 can absorb the working heat accumulated under the PCBA substrate 1. The heat on the copper pipes 4 is conducted to the water and then flows out from under the PCBA substrate 1, which can achieve efficient cooling of the area under the PCBA substrate 1.

[0030] The motor 10 drives the rotating shaft 7 on one side to rotate, and the multiple synchronous belt mechanisms 9 drive multiple rotating shafts 7 to rotate synchronously. As a result, multiple scrapers 8 on the rotating shaft 7 rotate around the rotating shaft 7. The tips of the scrapers 8 contact the inner wall of the copper pipe 4, so that the scrapers 8 can clean the scale and other impurities attached to the inner wall of the copper pipe 4 during the rotation process, avoiding the problem of reduced conduction efficiency caused by excessive scale buildup on the inner wall of the copper pipe 4.

[0031] Each copper pipe 4 is equipped with an electromagnetic flow meter, which is used to detect the flow rate of the coolant inside the copper pipe 4. A temperature measuring device is installed on the mounting base 3, and the temperature measuring device is located below the PCBA substrate 1. The temperature measuring device is used to measure the temperature below the PCBA substrate 1.

[0032] An electromagnetic flowmeter facilitates the observation of the coolant flow rate within copper pipe 4, allowing for real-time monitoring of its operational status. A temperature measuring device measures the temperature beneath the PCBA substrate 1, further facilitating the assessment of the PCBA circuit board's operational status.

[0033] The connecting mechanism includes a sphere 11 located below the PCBA substrate 1. A screw 12 is fixed to the bottom of the sphere 11. A sleeve 13 is fixed to the bottom corner of the PCBA substrate 1. A housing 14 is provided at the lower end of the sleeve 13. An insert 15 is fixed to the bottom of the housing 14. The insert 15 is inserted into the sleeve 13 and fits seamlessly. A rubber sleeve 16 is fixed inside the housing 14. The inner surface of the rubber sleeve 16 is spherical and matches the shape of the sphere 11. A buffer 17 is fixed to the top of the rubber sleeve 16. The buffer 17 is cylindrical and its upper end is fixedly connected to the housing 14.

[0034] The installation diagram of the device can be referred to. Figure 1 and Figure 2 As shown, the PCBA circuit board is installed by threading the lower end of the screw 12 into the collaborative robot housing 111, then fitting the sleeve 13 over the insert block 15, and finally inserting the ball 11 into the rubber sleeve 16. This installation method allows for easy disassembly and assembly / disassembly. Because the ball 11 and the rubber sleeve 16 are movable, their movement can cushion the PCBA circuit board when it is subjected to vibration, reducing stress when it is impacted. Simultaneously, the buffer 17 can deform, also providing cushioning in the vertical direction.

[0035] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A PCBA circuit board for collaborative robots, comprising a PCBA substrate (1), the PCBA substrate (1) is provided with an electrical layer (2) on the upper side, and electrical elements are assembled on the electrical layer (2), characterized in that: the PCBA substrate (1) is provided with a connecting mechanism at each of the four corners of the bottom, the connecting mechanism is connected with the shell of an external collaborative robot, and the connecting mechanism is used to install the PCBA substrate (1) in the shell of the external collaborative robot; a mounting seat (3) is arranged below the PCBA substrate (1) and is mounted on the shell of the external collaborative robot through a threaded fastener; three equidistantly arranged copper pipes (4) are arranged between the mounting seat (3) and the PCBA substrate (1); the ends of adjacent copper pipes (4) are communicated through a communication pipe (5); the two ends of the middle copper pipe (4) are communicated and externally connected with a pipe line (6); the pipe line (6) is fixedly connected with the mounting seat (3); a rotating shaft (7) is rotatably arranged on each copper pipe (4); one end of the rotating shaft (7) extends into the copper pipe (4); a plurality of scrapers (8) are arranged in the copper pipe (4) and are fixedly connected with the rotating shaft (7). The pipe line (6) is communicated with an external water cooling channel.

2. The PCBA circuit board for a collaborative robot of claim 1, wherein, A synchronous belt mechanism (9) is arranged between adjacent rotating shafts (7) and is used to drive adjacent rotating shafts (7) to rotate synchronously; a motor (10) is fixedly arranged on the mounting seat (3) and the output shaft of the motor (10) is fixedly connected with one side of the rotating shaft (7).

3. The PCBA circuit board for a collaborative robot of claim 1, wherein, An electromagnetic flowmeter is arranged on each copper pipe (4) and is used to detect the flow speed of the cooling liquid in the copper pipe (4).

4. The PCBA circuit board for a collaborative robot of claim 3, wherein, A temperature measurer is arranged on the mounting seat (3) and is located below the PCBA substrate (1); and the temperature measurer is used to measure the temperature below the PCBA substrate (1).

5. The PCBA circuit board for a collaborative robot of claim 4, wherein, The connecting mechanism comprises a ball (11) arranged below the PCBA substrate (1); a screw rod (12) is fixedly arranged at the bottom of the ball (11); a sleeve (13) is fixedly arranged at the corner of the bottom of the PCBA substrate (1); a shell cover (14) is arranged at the lower end of the sleeve (13); a plug (15) is fixedly arranged at the bottom of the shell cover (14); the plug (15) is inserted into the sleeve (13) and is in transition fit; a rubber sleeve (16) is fixedly arranged in the shell cover (14); the inner cavity surface of the rubber sleeve (16) is spherical and is matched with the shape of the ball (11).

6. The PCBA circuit board for a collaborative robot of claim 1, wherein, A buffer (17) is fixedly arranged at the top of the rubber sleeve (16); the buffer (17) is in the shape of a cylinder; and the upper end of the buffer (17) is fixedly connected with the shell cover (14).

7. The PCBA circuit board for a collaborative robot of claim 6, wherein, ​

Images