Joint structure and robot

Abstract

The utility model provides a joint structure and a robot. The joint structure comprises a joint body, and a joint flow channel is formed in the joint body. The driving part drives the joint main body to rotate and rotates along with the joint main body; the centrifugal fan is arranged on the outer side of the joint body and rotates along with the joint body, and the centrifugal fan drives air to flow in the first direction; the circulating fan is arranged at the end of the joint body and drives air to flow in the second direction opposite to the first direction, and airflow in the joint flow channel flows on the inner side and the outer side of the joint body through the centrifugal fan and the circulating fan. The robot joint solves the problem that in the prior art, the heat dissipation effect of the robot joint is not ideal.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a joint structure and a robot. Background Technology

[0002] In existing technologies, robot joints either rely on external cooling systems for heat dissipation, using air or water cooling through external fluid pipes; or they rely solely on simple fan cooling or even no cooling design at all, using only natural convection heat transfer. External pipe cooling not only increases costs, but the added structure is also incompatible with the high power density and compact structure required for robot applications; while simple cooling designs are often not effective enough. Utility Model Content

[0003] The main purpose of this invention is to provide a joint structure and robot to solve the problem of unsatisfactory heat dissipation in robot joints in the prior art.

[0004] To achieve the above objectives, according to one aspect of the present invention, a joint structure is provided, comprising a joint body having a joint flow channel within the joint body; a drive member driving the joint body to rotate and rotating together with the joint body; a centrifugal fan disposed on the outer side of the joint body and rotating together with the joint body, the centrifugal fan driving air to flow in a first direction; and a circulating fan disposed at the end of the joint body, the circulating fan driving air to flow in a second direction opposite to the first direction, the airflow within the joint flow channel flowing between the centrifugal fan and the circulating fan on the inner and outer sides of the joint body.

[0005] Furthermore, ventilation holes are provided on the inner wall of the joint body at the end away from the circulating fan. The ventilation holes are connected to the joint flow channel. The airflow in the joint flow channel flows back into the joint flow channel after passing through the circulating fan, centrifugal fan, and ventilation holes in sequence, or flows back into the joint flow channel after passing through the ventilation holes, centrifugal fan, and circulating fan in sequence.

[0006] Furthermore, the centrifugal fan includes a centrifugal housing disposed on the outer wall of the joint body, the centrifugal housing having a centrifugal flow channel for airflow; and centrifugal fan blades disposed within the centrifugal flow channel, the centrifugal fan blades rotating to drive air to flow through the centrifugal flow channel in a first direction.

[0007] Furthermore, the circulating fan includes a circulating housing disposed at one end of the joint body; and circulating fan blades disposed on the inner wall of the circulating housing, the rotating of which drives air to flow in a second direction.

[0008] Furthermore, the opening size of the circulation shell gradually increases in the direction away from the joint body.

[0009] Furthermore, the drive unit is located on the outer wall of the joint body, and the drive unit is provided with a clearance opening for airflow. The circulating fan and the drive unit are arranged along the axial direction of the joint body.

[0010] Furthermore, when there is one or more centrifugal fans, the centrifugal fan is located on one side of the drive unit; when there are multiple centrifugal fans, centrifugal fans are located on both sides of the drive unit along its axial direction.

[0011] Furthermore, there are multiple ventilation holes, which are spaced out circumferentially along the joint body.

[0012] Furthermore, the axes of the joint body, the circulating fan, and the centrifugal fan coincide.

[0013] According to another aspect of the present invention, a robot is provided, including the aforementioned joint structure.

[0014] By applying the technical solution of this utility model, the following technical effects are achieved:

[0015] 1. When the drive component rotates the joint body, the centrifugal fan and the circulating fan are located at different positions on the joint body, forming airflows in opposite directions. This allows the airflow to pass from the inside of the joint body through the end, then through the air gap of the drive component, and finally return to the inside of the joint body from the other end, thus cooling the drive component. When the drive component reverses its direction, the airflow circulation reverses, achieving the same cooling effect. This circulation method enhances the cooling efficiency of the drive component and improves its stability under high-power operation. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0017] Figure 1 This paper presents a schematic diagram of the overall structure of the joint structure of this application.

[0018] Figure 2 A front view of the joint structure of this application is shown;

[0019] Figure 3 A cross-sectional view of the joint mechanism of this application is shown.

[0020] The above figures include the following reference numerals:

[0021] 10. Joint body; 11. Ventilation hole; 20. Drive component; 21. Clearance opening; 30. Centrifugal fan; 31. Centrifugal housing; 32. Centrifugal fan blade; 40. Circulating fan; 41. Circulating housing; 42. Circulating fan blade. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0025] To address the problem of unsatisfactory heat dissipation in robot joints in existing technologies, this application provides a joint structure and a robot.

[0026] See Figures 1 to 3 The joint structure includes a joint body 10, a drive component 20, a centrifugal fan 30, and a circulating fan 40. The joint body 10 has a joint flow channel. The drive component 20 drives the joint body 10 to rotate and rotates with the joint body 10. The centrifugal fan 30 is located on the outside of the joint body 10 and rotates with the joint body 10. The centrifugal fan 30 drives the air to flow in a first direction. The circulating fan 40 is located at the end of the joint body 10 and drives the air to flow in a second direction opposite to the first direction. The airflow in the joint flow channel flows inside and outside the joint body 10 through the centrifugal fan 30 and the circulating fan 40.

[0027] When the drive unit 20 rotates the joint body 10, the centrifugal fan 30 and the circulating fan 40 are located at different positions on the joint body 10, forming airflows in opposite directions. This allows the airflow to pass through the end of the joint body 10 from the inside, then through the air gap of the drive unit 20, and finally return to the inside of the joint body 10 from the other end, thus dissipating heat from the drive unit 20. When the drive unit 20 reverses its direction, the airflow circulation reverses, achieving the same heat dissipation effect. This circulation method enhances the heat dissipation efficiency of the drive unit 20 and improves its stability under high-power operation.

[0028] Preferably, the drive component 20 is a motor, as shown in the accompanying drawings, which are the stator and rotor parts of the motor.

[0029] In this application, a ventilation hole 11 is provided on the inner wall of the joint body 10 away from the circulating fan 40. The ventilation hole 11 is connected to the joint flow channel. The airflow in the joint flow channel flows back to the joint flow channel after passing through the circulating fan 40, the centrifugal fan 30, and the ventilation hole 11 in sequence, or flows back to the joint flow channel after passing through the ventilation hole 11, the centrifugal fan 30, and the circulating fan 40 in sequence.

[0030] Specifically, by providing ventilation holes 11, the airflow passes through the ventilation holes 11 during circulation, facilitating airflow circulation within the joint structure. Simultaneously, providing ventilation holes 11 shortens the airflow path and increases the number of airflow cycles per unit time, thereby improving heat dissipation.

[0031] In this application, the centrifugal fan 30 includes a centrifugal housing 31 and centrifugal fan blades 32. The centrifugal housing 31 is disposed on the outer wall of the joint body and has a centrifugal flow channel for airflow. The centrifugal fan blades 32 are disposed in the centrifugal flow channel, and the rotation of the centrifugal fan blades 32 drives the air to flow through the centrifugal flow channel in a first direction.

[0032] Specifically, the centrifugal housing 31 serves as a connection and support, supporting the centrifugal fan blades 32. When the joint body 10 rotates, the rotation of the centrifugal fan blades 32 generates initial flow, thus producing airflow. The centrifugal fan 30 is mounted on the outer wall of the joint body 10, primarily providing power for the airflow outside the joint body 10.

[0033] In this application, the circulating fan 40 includes a circulating housing 41 and a circulating fan blade 42. The circulating housing 41 is disposed at one end of the joint body; the circulating fan blade 42 is disposed on the inner wall of the circulating housing 41, and the rotating circulating fan blade 42 drives the air to flow in the second direction.

[0034] The circulating fan 40 is located at the end of the housing, and the circulating fan blade 42 is located inside the circulating housing 41. When the circulating fan blade 42 rotates with the joint body 10, it will drive the airflow to flow inside the joint body 10.

[0035] In this application, the opening size of the circulation housing 41 gradually increases along the direction away from the joint body 10.

[0036] Specifically, along the direction away from the joint body 10, the opening size of the circulation housing 41 gradually increases, making the circulation housing 41 funnel-shaped. This allows external air to easily enter the interior of the circulation housing 41 when air is circulating, thus facilitating airflow.

[0037] In this application, the drive member 20 is disposed on the outer wall of the joint body 10, and the drive member 20 is provided with a clearance port 21 for airflow to pass through. The circulating fan 40 and the drive member 20 are arranged along the axial direction of the joint body 10.

[0038] Specifically, by providing an obstruction opening 21 on the drive component 20, airflow can pass through the drive component 20, which is beneficial to the circulation of airflow. Moreover, the obstruction opening 21 can increase the heat dissipation area. When the airflow passes through the obstruction opening 21, it can dissipate heat into the drive component 20, thereby providing a heat dissipation effect for the drive component 20.

[0039] In this application, the centrifugal fan 30 may be one or more. When there is one centrifugal fan 30, the centrifugal fan 30 is disposed on one side of the drive member 20; when there are multiple centrifugal fans 30, centrifugal fans 30 are disposed on both axial sides of the drive member 20.

[0040] Specifically, by setting multiple centrifugal fans 30, the driving effect on airflow can be increased, the airflow velocity can be increased, thereby increasing the number of airflow cycles on the joint body 10 per unit time and improving the dissipation effect on the drive component 20. Placing multiple centrifugal fans 30 on both sides of the drive component 20 can balance the airflow on both sides of the drive component 20 and increase the stability of the standing flow.

[0041] In this application, there are multiple ventilation holes 11, which are spaced apart circumferentially along the joint body 10.

[0042] By setting multiple ventilation holes 11, the air circulation effect inside and outside the joint body 10 can be improved, thereby improving the airflow circulation effect and allowing more air to pass through per unit time, thus improving the heat dissipation effect on the drive component 20.

[0043] In this application, the axes of the joint body 10, the circulating fan 40, and the centrifugal fan 30 are coincident. By aligning the axes of the joint body 10, the circulating fan 40, and the centrifugal fan 30, they can rotate along the same axis during rotation, thereby increasing the stability of their coordinated rotation.

[0044] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0045] 1. When the drive component 20 rotates the joint body 10, the centrifugal fan 30 and the circulating fan 40 are located at different positions on the joint body 10, forming airflows in opposite directions. This allows the airflow to pass through the end of the joint body 10 from the inside, then through the air gap of the drive component 20, and finally return to the inside of the joint body 10 from the other end, thus dissipating heat from the drive component 20. When the drive component 20 reverses its direction, the airflow circulation reverses, achieving the same heat dissipation effect. This circulation method enhances the heat dissipation efficiency of the drive component 20 and improves its stability under high-power operation.

[0046] 2. By providing ventilation holes 11, airflow will pass through the ventilation holes 11 during circulation, facilitating airflow circulation within the joint structure. Simultaneously, providing ventilation holes 11 shortens the airflow path and increases the number of airflow cycles per unit time, thereby improving heat dissipation.

[0047] 3. By providing a clearance opening 21 on the drive component 20, airflow can pass through the drive component 20, which is beneficial to the circulation of airflow. In addition, the clearance opening 21 can increase the heat dissipation area. When the airflow passes through the clearance opening 21, it can dissipate heat into the drive component 20, thereby providing a heat dissipation effect for the drive component 20.

[0048] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0050] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application 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 where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0051] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An articulating structure, characterized by, include: The joint body (10) has a joint flow channel inside; A driving member (20) drives the joint body (10) to rotate and rotates together with the joint body (10); Centrifugal fan (30) is disposed on the outside of the joint body (10) and rotates together with the joint body (10). The centrifugal fan (30) drives air to flow in a first direction. A circulating fan (40) is disposed at the end of the joint body (10). The circulating fan (40) drives air to flow in a second direction opposite to the first direction. The airflow in the joint channel flows on the inside and outside of the joint body (10) through the centrifugal fan (30) and the circulating fan (40).

2. The joint structure according to claim 1, characterized in that, A ventilation hole (11) is provided on the inner wall of the joint body (10) away from the circulating fan (40). The ventilation hole (11) is connected to the joint flow channel. The airflow in the joint flow channel flows back to the joint flow channel after passing through the circulating fan (40), the centrifugal fan (30), and the ventilation hole (11) in sequence, or flows back to the joint flow channel after passing through the ventilation hole (11), the centrifugal fan (30), and the circulating fan (40) in sequence.

3. The joint structure of claim 1, wherein The centrifugal fan (30) includes: Centrifuge housing (31), the centrifuge housing (31) is disposed on the outer wall of the joint body (10), the centrifuge housing (31) has a centrifuge flow channel for airflow; Centrifugal fan blade (32) is disposed in the centrifugal flow channel. The centrifugal fan blade (32) rotates and drives the air to flow through the centrifugal flow channel in the first direction.

4. The joint structure of claim 1, wherein The circulating fan (40) includes: A circulation housing (41) is disposed at one end of the joint body (10); A circulating fan blade (42) is disposed on the inner wall of the circulating housing (41), and the circulating fan blade (42) rotates to drive the air to flow in the second direction.

5. The joint structure of claim 4, wherein Along the direction away from the joint body (10), the opening size of the circulation housing (41) gradually increases.

6. The joint structure of claim 1, wherein The drive member (20) is disposed on the outer wall of the joint body (10), and the drive member (20) is provided with a clearance opening (21) for airflow to pass through. The circulating fan (40) and the drive member (20) are arranged along the axial direction of the joint body (10).

7. The joint structure of claim 6, wherein The centrifugal fan (30) may be one or more. When there is one centrifugal fan (30), the centrifugal fan (30) is disposed on one side of the drive unit (20); When there are multiple centrifugal fans (30), the centrifugal fans (30) are provided on both sides of the drive member (20) along the axial direction.

8. The joint structure of claim 2, wherein The number of ventilation holes (11) is multiple, and they are arranged at intervals along the circumference of the joint body (10).

9. Joint structure according to any of claims 1-8, characterized in that The axes of the joint body (10), the circulating fan (40), and the centrifugal fan (30) coincide.

10. A robot, characterized in that An articulating structure comprising the joint structure of any one of claims 1-9.

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