Liquid-cooled reducer module for robot joints

Abstract

This utility model discloses a liquid-cooled heat dissipation reducer module for robot joints, belonging to the field of robot joint technology. It includes: a reducer housing; a reduction mechanism disposed inside the reducer housing for speed reduction and torque transmission; and a liquid-cooling channel integrated within the reducer housing, located adjacent to a transmission component, and having an inlet and an outlet. This utility model illustrates a liquid-cooled heat dissipation reducer module for robot joints. By directly integrating the liquid-cooling channel into the reducer housing, this module achieves efficient heat dissipation of the reducer's internal components and features a compact structure, meeting the requirements for joint compactness.

Description

Technical Field

[0001] This utility model relates to the field of robot joint technology, and in particular to a liquid-cooled heat dissipation reducer module for robot joints. Background Technology

[0002] Robot joints typically employ precision reducers with high reduction ratios to increase output torque. Under conditions of high-speed operation and high torque output, the gear meshing surfaces of the reducer generate significant frictional heat, leading to an increase in internal temperature. Excessive temperature rise can cause the viscosity of the lubricating grease inside the reducer to decrease, leading to oxidation and failure, accelerating wear on the gear teeth, and even causing thermal expansion and deformation, severely impacting transmission accuracy, working efficiency, and service life.

[0003] Currently, the heat dissipation of reducers typically relies on natural heat exchange between their casing and the air, which has very limited heat dissipation capacity. This problem is particularly pronounced for reducers built into the enclosed space within robot joints. While there are methods to add external heat dissipation fins to reducers, this significantly increases the size and weight of the component, contradicting the goals of miniaturization and weight reduction for robot joints. Utility Model Content

[0004] To address the shortcomings of the prior art, the present invention aims to provide a liquid-cooled heat dissipation reducer module for robot joints. This reducer module achieves efficient heat dissipation of the reducer interior by directly integrating the liquid cooling channel into the reducer housing, and has a compact structure that meets the requirements for joint compactness.

[0005] The technical solution adopted by this utility model to solve its technical problem is as follows:

[0006] A liquid-cooled heat dissipation reducer module for robot joints is provided, comprising:

[0007] Gearbox housing;

[0008] A reduction mechanism, which is disposed inside the reducer housing, is used to reduce speed and transmit torque;

[0009] A liquid cooling channel is integrated into the reducer housing. The liquid cooling channel surrounds the transmission components of the reduction mechanism and has an inlet and an outlet.

[0010] Furthermore, the liquid cooling channel has a flow channel shape that is either annular, serpentine, or spiral.

[0011] Furthermore, the interior of the liquid cooling channel is provided with a turbulence enhancement structure.

[0012] Furthermore, the turbulence enhancement structure is a rib, a protrusion, or a turbulence-enhancing column.

[0013] Furthermore, the turbulence enhancement structure is a Tesla valve integrated within the liquid cooling channel.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. The liquid-cooled heat dissipation reducer module of this utility model uses the coolant in the liquid cooling channel to cool the reducer, directly and efficiently removing the heat generated by the transmission components, and the heat dissipation capacity far exceeds that of traditional natural cooling or air cooling.

[0016] 2. The liquid-cooled heat dissipation reducer module of this utility model can be designed in various forms such as ring, serpentine or spiral, and can be combined with various types of reducers such as harmonic and planetary reducers, and has good versatility. Attached Figure Description

[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure from another perspective;

[0020] Figure 3 This is a sectional view;

[0021] Figure 4 This is a schematic diagram of a spiral liquid cooling channel structure.

[0022] Figure 5 This is a cross-sectional view of the liquid cooling flow channel in Example 2;

[0023] Figure 6 This is a schematic diagram of a Tesla valve structure.

[0024] In the diagram: 1-Reducer housing, 2-Reduction mechanism, 3-Liquid cooling channel, 4-Inlet, 5-Outlet, 6-Protrusion, 7-Tesla valve. Detailed Implementation

[0025] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] like Figure 1-3 As shown, this embodiment provides a liquid-cooled reducer module for robot joints, including a reducer housing 1. A reduction mechanism 2 is provided within the reducer housing 1 for speed reduction and torque transmission. In this embodiment, the reducer module also includes a liquid-cooling channel 3, which is integrated within the reducer housing 1 rather than being an external water jacket. The liquid-cooling channel 3 surrounds the transmission components and has an inlet 4 and an outlet 5. The coolant in the liquid-cooling channel 3 cools the reducer, directly and efficiently removing the heat generated by friction in the transmission components, achieving a heat dissipation capacity far exceeding traditional natural cooling or air cooling.

[0028] The reducer is a harmonic reducer, a cycloidal pinwheel reducer, or a planetary gear reducer. In this embodiment, a planetary gear reducer is used, and its transmission component is a set of meshing gears.

[0029] The liquid cooling channel 3 has a flow channel shape that is annular, serpentine, or spiral. In this embodiment, the liquid cooling channel 3 has an annular structure. Of course, as... Figure 4 As shown, it can also be a spiral structure. The spiral structure increases the length of the liquid cooling channel 3, which greatly increases the contact area and flow path length between the coolant and the reducer housing in the same space. Moreover, the spiral structure makes it easier for the coolant to form turbulence, so even if the flow rate is not high, a good heat exchange effect can be achieved.

[0030] The liquid-cooled reducer module exemplified in this embodiment achieves precise and efficient cooling of the key heat-generating areas of the reducer, effectively controlling temperature rise and preventing loss of transmission accuracy due to thermal deformation. The liquid cooling system is deeply integrated with the reducer body, eliminating the need for additional heat sinks, fans, or external water-cooling plates, thus saving space to the maximum extent and perfectly meeting the extreme requirements of robot joints for miniaturization and lightweighting.

[0031] Example 2:

[0032] This embodiment is based on Embodiment 1, such as... Figure 5 As shown, the interior of the annular liquid-cooled channel 3 is improved by adding a turbulence enhancement structure. This turbulence enhancement structure can be fins, protrusions 6, or turbulence-inducing columns. While the fins and turbulence-inducing columns can significantly enhance heat transfer, impurities tend to accumulate around them, requiring high cleanliness of the coolant. Therefore, in this embodiment, the turbulence enhancement structure is a discrete protrusion 6 structure located on the bottom surface of the liquid-cooled channel 3. After the coolant impacts the protrusions 6, separation vortices and wakes are generated behind and above them. These vortices efficiently scour and disrupt the laminar sublayer with the highest thermal resistance, which is tightly attached to the wall. Furthermore, compared to the fin structure, the protrusion 6 structure is less prone to forming flow dead zones and impurity deposition, reducing system maintenance requirements and improving long-term operational stability.

[0033] Example 3:

[0034] This embodiment is based on Embodiment 1, such as... Figure 6 As shown, the interior of the annular liquid cooling channel 3 is improved by adding a turbulence enhancement structure. In this embodiment, the turbulence enhancement structure is a Tesla valve 7. The Tesla valve 7 provides global disturbance to the coolant, ensuring that the coolant temperature is rapidly homogenized within the channel, suppressing backflow, enhancing local boiling heat transfer, and maximizing the utilization of the coolant's heat absorption potential.

[0035] Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by substituting the above-mentioned features with technical features disclosed in this application (but not limited to) that have similar functions.

Claims

1. A liquid-cooled heat-dissipating reducer module for a robot joint, characterized in that, include: Reducer housing (1); The deceleration mechanism (2) is disposed inside the reducer housing (1) and is used to reduce speed and transmit torque; The liquid cooling channel (3) is integrated inside the reducer housing (1). The liquid cooling channel (3) surrounds the transmission component of the reduction mechanism (2). The liquid cooling channel (3) is provided with an inlet (4) and an outlet (5).

2. The liquid-cooled, thermally dissipating reduction module for a robotic joint of claim 1, wherein, The liquid cooling channel (3) has a channel shape that is either annular, serpentine, or spiral.

3. The liquid-cooled, thermally dissipating reduction module for a robotic joint of claim 1, wherein, The liquid cooling channel (3) is equipped with a turbulence enhancement structure inside.

4. The liquid-cooled, thermally dissipating reduction module for a robotic joint of claim 3, wherein, The turbulence enhancement structure is a rib, a protrusion (6), or a turbulence-enhancing column.

5. The liquid-cooled, thermally dissipated reduction module for a robotic joint of claim 3, wherein, The turbulence enhancement structure is a Tesla valve (7) integrated into the liquid cooling channel (3).

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