Joint cooling structure and robot dog

Abstract

The utility model provides a kind of joint cooling structure and robot dog, wherein joint cooling structure includes cooling fin and air-blowing mechanism;Cooling fin is used to install in joint motor outer periphery, air-blowing mechanism is used to install in existing machine body, air-blowing mechanism is arranged in cooling fin side portion, and air outlet of air-blowing mechanism is arranged towards cooling fin.This application works by air-blowing mechanism, air is blown towards cooling fin, air flow near cooling fin is increased, convection heat dissipation is increased, so as to improve the heat dissipation effect of cooling fin, the overall temperature of joint motor is controlled within normal working range, prevent the overall temperature of joint motor from being too high to cause joint motor to malfunction, reduce the probability of joint motor malfunction.

Description

Technical Field

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

[0002] In existing steel production, with technological innovation, some high-risk tasks are gradually being replaced by robots or robotic dogs, reducing operational hazards and ensuring worker safety. For example, in steel smelting, it is necessary to measure the temperature of molten iron in the converter. Previously, temperature measurement was done manually using temperature measuring instruments, requiring operators to work in a high-temperature environment, posing a significant risk of heatstroke or molten iron splashing onto them, leading to accidents. However, with improvements, robotic dogs carrying temperature measuring equipment are used, improving worker safety. While robotic dogs theoretically solve the temperature measurement problem, in practical use, it has been found that they frequently malfunction after a period of use, significantly impacting steel temperature measurement and production.

[0003] In summary, there is an urgent need for a joint cooling structure and a robot dog to solve or at least partially solve the problems existing in the prior art. Utility Model Content

[0004] The purpose of this utility model is to provide a joint cooling structure, which aims to solve the problem that existing robot dogs are prone to power outages and malfunctions when performing temperature measurement. The specific technical solution is as follows:

[0005] A joint cooling structure includes cooling fins and a blower mechanism; the cooling fins are used to be installed on the outer periphery of an existing joint motor, and the blower mechanism is used to be installed on the existing body. The blower mechanism is arranged on the side of the cooling fins, and the air outlet of the blower mechanism is arranged facing the cooling fins.

[0006] Furthermore, the cooling fins are arranged in a ring shape, and the cooling fins are arranged around the outer periphery of the joint motor.

[0007] Furthermore, multiple cooling fins are arranged at intervals, and an annular cooling groove is formed between two adjacent cooling fins. The air outlet of the blower mechanism is arranged facing the annular cooling groove.

[0008] Furthermore, the cooling fins are made of aluminum alloy or copper alloy.

[0009] Furthermore, it also includes a guide vane, which extends circumferentially on the top of the cooling fins. The first end of the guide vane extends circumferentially along the cooling fins to the side near the blower mechanism, and the second end of the guide vane extends circumferentially along the cooling fins to the side away from the blower mechanism, so as to form an air inlet at the first end of the guide vane and an air outlet at the second end of the guide vane.

[0010] Furthermore, the guide vanes on adjacent cooling fins are arranged at intervals.

[0011] Furthermore, the blower mechanism is a centrifugal fan.

[0012] Furthermore, it also includes a filter plate, which is detachably connected to the blower mechanism and is arranged at the air inlet of the blower mechanism, covering the air inlet arrangement.

[0013] The application of the technical solution of this utility model has the following beneficial effects:

[0014] Through the structural improvements described above, when the robot dog is measuring temperature, the blower mechanism operates, blowing air towards the cooling fins. This increases airflow near the cooling fins, enhancing convective heat dissipation and thus improving the cooling effect of the fins. This keeps the overall temperature of the joint motor within its normal operating range, preventing overheating and potential malfunctions, and reducing the probability of joint motor failure. In other words, while the original cooling fins had poor heat dissipation, the addition of the blower mechanism, which works in conjunction with the cooling fins to cool the joint motor, significantly improves heat dissipation.

[0015] On the other hand, this application also provides a robot dog, including a body and joint motors. Four joint motors are arranged, and the four joint motors are respectively installed at the four corners of the body. It also includes the aforementioned joint cooling structure, with four sets of joint cooling structures arranged in a one-to-one correspondence with the joint motors.

[0016] Furthermore, the blower mechanism is detachably connected to the machine body.

[0017] The application of the technical solution of this utility model has the following beneficial effects:

[0018] By designing a cooling structure, heat dissipation from the joint motor is improved, preventing overheating and thus preventing the robot dog from stopping due to overheating. This allows the robot dog to operate normally in high-temperature environments, expanding its application range.

[0019] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. These will be described below with reference to... Figures 1-6 The present invention will be described in further detail below. Attached Figure Description

[0020] 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:

[0021] Figure 1 This is a schematic diagram of the overall structure of a joint cooling structure applied to a robot dog according to Embodiment 1 of this application;

[0022] Figure 2 This is a schematic diagram of the overall structure of the cooling fins and guide vanes in a joint cooling structure according to Embodiment 1 of this application;

[0023] Figure 3 This is one of the diagrams showing the relative positions of the cooling groove and the cooling fins in a joint cooling structure according to Embodiment 1 of this application;

[0024] Figure 4 This is the second diagram showing the relative positional relationship between the cooling groove and the cooling fins in a joint cooling structure according to Embodiment 1 of this application;

[0025] Figure 5 This is a schematic diagram of the overall structure of a robot dog after the legs have been removed, according to Embodiment 2 of this application;

[0026] Figure 6 yes Figure 5 A magnified view of point A in the middle.

[0027] Among them, 1. Cooling fins; 2. Blower mechanism; 21. Air outlet; 22. Air inlet; 3. Annular cooling groove; 4. Guide vane; 5. Air inlet; 6. Air outlet; 7. Filter plate; 8. Body; 9. Joint motor. Detailed Implementation

[0028] To facilitate understanding of this invention, a more comprehensive description is provided below, along with preferred embodiments. However, this invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this invention.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0030] Example 1:

[0031] See Figures 1-4This embodiment provides a joint cooling structure, including cooling fins 1 and a blower mechanism 2. The cooling fins 1 are used to be installed on the outer periphery of an existing joint motor 9, and the blower mechanism 2 is used to be installed on an existing fuselage 8. The blower mechanism 2 is arranged on the side of the cooling fins 1, and the air outlet 21 of the blower mechanism 2 is arranged facing the cooling fins 1.

[0032] Through research and continuous testing, it was found that after the robot dog stopped working and was moved to the maintenance room for a period of time, all its parameters returned to normal. Based on an investigation of the on-site environment and a comprehensive assessment of the robot dog's malfunction, it was determined that the robot dog's joint motor 9 overheated, causing its internal overheat protection device to activate, leading to a power outage and shutdown. This is because the robot dog's design did not adequately consider operating in such high-temperature environments. Furthermore, the joint motor 9 itself generates heat during operation; the combined heat from both causes the joint motor 9 to overheat, triggering its thermal protection device and resulting in a power outage and cessation of operation, thus causing the aforementioned malfunction. It should be noted that the high temperature referred to in this application is 40 degrees Celsius or higher.

[0033] Based on the identified problems, the above structural improvements were made. It can be seen that when the robot dog is performing temperature measurement, the blower mechanism 2 operates, blowing air towards the cooling fins 1. This increases airflow near the cooling fins 1, enhancing convective heat dissipation and thus improving the heat dissipation effect of the cooling fins 1. This keeps the overall temperature of the joint motor 9 within its normal operating range, preventing overheating and potential malfunctions, and reducing the probability of joint motor 9 failure. In other words, the original cooling fins 1 had poor heat dissipation; by adding the blower mechanism 2, which works in conjunction with the cooling fins 1 to cool the joint motor 9, the heat dissipation effect is improved.

[0034] Furthermore, the cooling fins 1 are arranged in a ring shape, and the cooling fins 1 are arranged around the outer periphery of the joint motor 9.

[0035] Specifically, the outer casing of the joint motor 9 is arranged in a cylindrical shape, and the cooling fins 1 are fitted onto the outside of the outer casing of the joint motor 9. By arranging the cooling fins 1 in a ring shape, it is easier to process and manufacture, which helps to reduce production costs. The cooling fins 1 can be produced by casting or by stamping sheet metal.

[0036] Furthermore, multiple cooling fins 1 are arranged, with the multiple cooling fins 1 arranged at intervals, and an annular cooling groove 3 is formed between two adjacent cooling fins 1, and the air outlet 21 of the blower mechanism 2 is arranged facing the annular cooling groove 3.

[0037] It is known that when the blower blows air, the air blown out from the blower moves toward the annular cooling tank 3, blowing out the air that was originally heated by the cooling fins 1 in the annular cooling tank 3, increasing the temperature gradient between the cooling fins 1 and the air around them, thereby improving the heat dissipation effect of the cooling fins 1.

[0038] Furthermore, in this embodiment, the cooling fins 1 are made of copper alloy. Copper alloy has excellent thermal conductivity, which improves heat dissipation. In addition, copper alloy has good corrosion resistance, thereby extending the service life of the fins. In some other embodiments of this application, the cooling fins 1 can also be made of aluminum alloy. Aluminum alloy has good thermal conductivity, corrosion resistance, and light weight. Using aluminum alloy can reduce the overall weight of the heat dissipation fins and reduce the overall weight of the robot.

[0039] Furthermore, it also includes a guide vane 4, which extends circumferentially on the top of the cooling fin 1. The first end of the guide vane 4 extends circumferentially along the cooling fin 1 to the side near the blower mechanism 2, and the second end of the guide vane 4 extends circumferentially along the cooling fin 1 to the side away from the blower mechanism 2, so that an air inlet 5 is formed at the first end of the guide vane 4 and an air outlet 6 is formed at the second end of the guide vane 4. Specifically, each cooling fin 1 is provided with two guide vanes 4, which are arranged opposite to each other. The two guide vanes 4 are integrally formed with the cooling fin 1, or the two guide vanes 4 are fixedly connected to the outer periphery of the cooling fin 1 by welding.

[0040] It should be noted that because the outer periphery of the joint motor 9 is cylindrical, when the air blower mechanism 2 blows air onto the cooling fins 1, the cooling fins 1 on the side closer to the air blower mechanism 2 are cooled better, while the fins on the side away from the air blower mechanism 2 are cooled poorly because the air blown by the air blower mechanism 2 cannot reach them well. However, by setting the guide vanes 4, which are arranged circumferentially on the cooling fins 1, the guide vanes 4 partially cover the annular cooling groove 3, making the annular cooling groove 3 a cooling channel. An air inlet 5 is formed on the side of the guide vanes 4 closer to the air blower mechanism 2, and an air outlet 6 is formed on the side of the guide vanes 4 away from the air blower mechanism 2. When the air blower mechanism 2 blows air toward the air inlet 5, the air moves along the cooling channel. The guide vanes 4 guide the air, allowing the cooling air to flow to the cooling fins 1 that the air blown by the air blower mechanism 2 cannot reach, so that the cooling fins 1 at that location can be effectively cooled.

[0041] Furthermore, the guide vanes 4 on two adjacent cooling fins 1 are arranged at intervals.

[0042] It is known that the cold air entering from the air inlet 5 flows along the annular cooling groove 3. Some of the air heated by the fins flows out through the gap between two adjacent guide vanes 4, carrying away the heat. This allows the air entering the annular cooling groove 3 to flow out through the guide vanes 4 on two adjacent cooling fins 1, or to be discharged from the air outlet 6, increasing the exhaust and airflow, and improving the heat dissipation effect on the cold-cut fins.

[0043] It should be noted that the cold air mentioned here refers to the ambient air, which is colder than the air that has been heated by the fins.

[0044] Furthermore, the blower mechanism 2 is a centrifugal fan.

[0045] The centrifugal fan draws in air from its end inlet 22 and discharges it from its side outlet 21, blowing it toward the cooling fins 1. Using a centrifugal fan allows it to be placed as close as possible to the robot dog's body 8, reducing the volume occupied by the blower mechanism 2.

[0046] Furthermore, it also includes a filter plate 7, which is detachably connected to the blower mechanism 2 and arranged at the air inlet 22 of the blower mechanism 2, covering the air inlet 22. Specifically, the filter plate 7 is made of steel plate, and several filter holes are provided on the steel plate to filter the air drawn in by the blower mechanism 2. The filter plate 7 is detachably connected to the air inlet 22 of the blower mechanism 2 by screws.

[0047] Example 2:

[0048] See Figure 5 and Figure 6 This application provides a robot dog, including a body 8 and joint motors 9. Four joint motors 9 are arranged and installed at the four corners of the body 8. The robot dog also includes the aforementioned joint cooling structure, with four sets of joint cooling structures arranged in a one-to-one correspondence with the joint motors 9.

[0049] It is known that by adding a blower mechanism 2 to the body 8, and by having the blower mechanism 2 work in conjunction with the cooling fins 1, the cooling effect on the joint motor 9 is improved, thereby enabling the robot dog to adapt to the working environment of measuring the temperature of molten steel, reducing the occurrence of strikes due to overheating in such an environment, and improving the scope of application of the robot dog.

[0050] Furthermore, the blower mechanism 2 is detachably connected to the body 8 by screws.

[0051] With this design, when the blower mechanism 2 is damaged, it can be easily replaced, making it convenient to repair the blower mechanism 2.

[0052] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. 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 joint cooling structure, characterized in that: It includes cooling fins (1) and a blower mechanism (2); The cooling fins (1) are used to be installed on the outer periphery of the existing joint motor (9), and the blower mechanism (2) is used to be installed on the existing fuselage (8). The blower mechanism (2) is arranged on the side of the cooling fins (1), and the air outlet (21) of the blower mechanism (2) is arranged towards the cooling fins (1).

2. The joint cooling structure according to claim 1, characterized in that: The cooling fins (1) are arranged in a ring shape and are arranged around the outer periphery of the joint motor (9).

3. The joint cooling structure according to claim 2, characterized in that: Multiple cooling fins (1) are arranged at intervals, and an annular cooling groove (3) is formed between two adjacent cooling fins (1). The air outlet (21) of the blower mechanism (2) is arranged towards the annular cooling groove (3).

4. The joint cooling structure according to claim 1, characterized in that: The cooling fins (1) are made of aluminum alloy or copper alloy.

5. A joint cooling structure according to claim 3, characterized in that: It also includes a guide vane (4), which extends circumferentially to the top of the cooling fin (1), and the first end of the guide vane (4) extends circumferentially along the cooling fin (1) to a side close to the blower mechanism (2), and the second end of the guide vane (4) extends circumferentially along the cooling fin (1) to a side away from the blower mechanism (2), so as to form an air inlet (5) at the first end of the guide vane (4) and an air outlet (6) at the second end of the guide vane (4).

6. A joint cooling structure according to claim 5, characterized in that: The guide vanes (4) on two adjacent cooling fins (1) are arranged at intervals.

7. A joint cooling structure according to any one of claims 1-6, characterized in that: The blower mechanism (2) is a centrifugal fan.

8. A joint cooling structure according to claim 7, characterized in that: It also includes a filter plate (7), which is detachably connected to the blower mechanism (2) and is arranged at the air inlet (22) of the blower mechanism (2) and covers the air inlet (22).

9. A robotic dog, comprising a body (8) and four joint motors (9), wherein the four joint motors (9) are respectively installed at the four corners of the body (8), characterized in that: It also includes a joint cooling structure as described in any one of claims 1-8, wherein four sets of the joint cooling structures are arranged, and the four sets of joint cooling structures are arranged in a one-to-one correspondence with the joint motor (9).

10. A robot dog according to claim 9, characterized in that: The blower mechanism (2) is detachably connected to the body (8).

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