A robot joint module

Abstract

The utility model discloses a kind of robot joint module, it is related to robot technical field, including bearing pedestal, the center of the upper end of bearing pedestal is rotatably connected with support shaft, the upper end of support shaft is fixed with first joint connecting seat, the upper end of bearing pedestal and located the outside array of support shaft is equipped with multiple first arc-shaped through slot, the bottom of first joint connecting seat and with multiple first arc-shaped through slot corresponding position place are all equipped with second arc-shaped through slot, the inside of first joint connecting seat upper end is fixed with breathable filter plate, the upper end of breathable filter plate is provided with air guide fan. A kind of robot joint module provided by the utility model can guide heat dissipation airflow to pass through breathable filter plate and enter the inside of first joint connecting seat by air guide fan, and cooperate with multiple second arc-shaped through slot and multiple first arc-shaped through slot to further pour flowing heat dissipation airflow into the inside of bearing pedestal, to realize the simultaneous heat dissipation of steering drive mechanism and tilting drive mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot joint module. Background Technology

[0002] Articulated robots, also known as articulated robotic arms or multi-joint robots, have individual joint modules that move in a rotational manner, similar to a human arm. Articulated robots are one of the most common types of industrial robots in today's industrial fields, suitable for automated mechanical operations in many industrial sectors.

[0003] In the prior art, because the motor housing is enclosed and the heat dissipation of the motor unit is not considered, the temperature is too high during long-term continuous operation and high load, which can easily damage the internal components of the motor and the circuit board components. For example, the joint module for a quadruped robot and the quadruped robot using the joint module disclosed in CN219154620U. Therefore, this application proposes a robot joint module. Utility Model Content

[0004] Based on this, it is necessary to provide a robot joint module to address the above-mentioned technical problems. Through the overall structural design, the heat dissipation airflow can be guided through the breathable filter plate into the inner side of the first joint connecting seat. With the opening of multiple second arc-shaped through slots and multiple first arc-shaped through slots, it is convenient to further inject the flowing heat dissipation airflow into the inner side of the bearing base. Then, the rectangular through slots and two ventilation grilles are used to facilitate the discharge of heat dissipation airflow, thereby achieving simultaneous heat dissipation for the steering drive mechanism and the tilting drive mechanism.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] A robot joint module used to simulate human joint movement;

[0007] The system includes a support base, a support shaft rotatably connected to the center of the upper end of the support base, a first joint connecting seat fixed to the upper end of the support shaft, a first rotating shaft rotatably connected to the inner part of the upper end of the first joint connecting seat, a second joint connecting seat fixed to the outer side of the first rotating shaft and outside the first joint connecting seat, a plurality of first arc-shaped through slots arrayed on the upper end of the support base and outside the support shaft, ventilation grilles symmetrically fixed to the outer side of the support base, a second arc-shaped through slot opened at the bottom end of the first joint connecting seat corresponding to the plurality of first arc-shaped through slots, a breathable filter plate fixed to the inner side of the upper end of the first joint connecting seat, an air guide fan provided at the upper end of the breathable filter plate, the air guide fan being fixed to the first joint connecting seat, and a steering drive mechanism and a tilting drive mechanism respectively provided on the inner sides of the support base and the first joint connecting seat.

[0008] In a preferred embodiment of the robot joint module provided by this utility model, the steering drive mechanism includes a first motor unit, which is located at the center of the lower end of the support shaft, and the output end of the first motor unit is fixed to the support shaft.

[0009] In a preferred embodiment of the robot joint module provided by this utility model, the tilting drive mechanism includes a second motor unit. The second motor unit is fixed inside the first joint connecting seat and at the lower end of the first rotating shaft. The output end of the second motor unit is fixed to the second rotating shaft. The end of the second rotating shaft away from the second motor unit is rotatably connected to the first joint connecting seat. A worm is fixed at the center of the outer side of the second rotating shaft. A worm wheel is fixed at the center of the outer side of the first rotating shaft and inside the first joint connecting seat. The worm wheel is meshed with the worm.

[0010] As a preferred embodiment of the robot joint module provided by this utility model, an air guide tube is fixed inside the bearing base and outside the support shaft and the first motor unit. A rectangular through groove is provided at the lower end of the air guide tube and at the position corresponding to the two ventilation grilles.

[0011] As a preferred embodiment of the robot joint module provided by this utility model, multiple heat-conducting fins are fixedly arranged on the upper end of the bearing base and on the outer side of the support shaft. The upper ends of the multiple heat-conducting fins are all attached to the bottom end of the first joint connecting seat, and each heat-conducting fin has a vent hole inside.

[0012] As a preferred embodiment of the robot joint module provided by this utility model, an assembly frame is symmetrically fixed on the outer side of the bearing base and between two ventilation grilles, and each assembly frame has multiple positioning holes inside.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The robot joint module provided by this utility model, through its overall structural design, allows for the guidance of cooling airflow through the breathable filter plate into the inner side of the first joint connecting seat. The inclusion of multiple second arc-shaped through-slots, multiple vent holes, and multiple first arc-shaped through-slots facilitates the further flow of cooling airflow into the inner side of the supporting base. Rectangular through-slots and two ventilation grilles facilitate the discharge of the cooling airflow. Thus, by allowing the cooling airflow to pass through and contact the second and first motor units respectively, simultaneous cooling of the steering drive mechanism and tilting drive mechanism is achieved, effectively improving the module's heat dissipation performance and reducing the heat retention rate of the first and second motor units during continuous operation. Furthermore, the arrangement of multiple heat-conducting fins ensures the basic load-bearing strength of the module while enhancing heat transfer efficiency. Attached Figure Description

[0015] To more clearly illustrate the solutions in this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the overall structure of the robot joint module provided by this utility model;

[0017] Figure 2 A schematic diagram of the inner side of the robot joint module support base provided by this utility model;

[0018] Figure 3 A schematic diagram of the structure between the robot joint module support base and the first joint connecting seat provided by this utility model;

[0019] Figure 4 A schematic diagram of the inner side of the first joint connecting seat of the robot joint module provided by this utility model.

[0020] The markings in the diagram are explained as follows:

[0021] 1. Support base; 2. Assembly frame; 3. Positioning hole; 4. Support shaft; 5. First motor unit; 6. Ventilation grille; 7. First arc-shaped through slot; 8. Air guide tube; 9. First joint connecting seat; 10. First rotating shaft; 11. Second arc-shaped through slot; 12. Heat-conducting fins; 13. Ventilation hole; 14. Ventilation filter plate; 15. Air guide fan; 16. Worm gear; 17. Second motor unit; 18. Second rotating shaft; 19. Worm; 20. Second joint connecting seat. Detailed Implementation

[0022] As described in the background art, in the prior art, because the motor housing is enclosed and the heat dissipation of the motor unit is not considered, the temperature is too high during long-term continuous operation and high load, which can easily damage the internal components of the motor and the circuit board components.

[0023] To solve this technical problem, this utility model provides a robot joint module that is used to simulate human joint movement;

[0024] The system includes a support base 1, a support shaft 4 rotatably connected to the center of the upper end of the support base 1, a first joint connecting seat 9 fixed to the upper end of the support shaft 4, a first rotating shaft 10 rotatably connected to the inner part of the upper end of the first joint connecting seat 9, a second joint connecting seat 20 fixed to the outer side of the first rotating shaft 10 and the outer side of the first joint connecting seat 9, multiple first arc-shaped through slots 7 arrayed on the upper end of the support base 1 and the outer side of the support shaft 4, ventilation grilles 6 symmetrically fixed to the outer side of the support base 1, and second arc-shaped through slots 11 opened at the bottom end of the first joint connecting seat 9 and corresponding to the multiple first arc-shaped through slots 7, a breathable filter plate 14 fixed to the inner side of the upper end of the first joint connecting seat 9, an air guide fan 15 provided at the upper end of the breathable filter plate 14, the air guide fan 15 fixed to the first joint connecting seat 9, and a steering drive mechanism and a tilting drive mechanism respectively provided on the inner side of the support base 1 and the first joint connecting seat 9.

[0025] The robot joint module provided by this utility model can guide the heat dissipation airflow through the air filter plate 14 into the inner side of the first joint connecting seat 9 through the air guide fan 15. With the opening of multiple second arc-shaped through slots 11 and multiple first arc-shaped through slots 7, it is convenient to further inject the flowing heat dissipation airflow into the inner side of the bearing base 1. Then, the two ventilation grilles 6 are used to facilitate the discharge of heat dissipation airflow, thereby achieving simultaneous heat dissipation of the steering drive mechanism and the tilting drive mechanism.

[0026] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] Example 1:

[0029] Please refer to Figure 1-4 A robot joint module includes a support base 1, a support shaft 4 rotatably connected to the center of the upper end of the support base 1, a first joint connecting seat 9 fixed to the upper end of the support shaft 4, a first rotating shaft 10 rotatably connected to the inner end of the upper end of the first joint connecting seat 9, and a second joint connecting seat 20 fixed to the outer side of the first rotating shaft 10 and located outside the first joint connecting seat 9. In order to facilitate the control of the first joint connecting seat 9 to rotate around the support shaft 4 to achieve steering drive, and in order to facilitate the control of the second joint connecting seat 20 to flip around the first rotating shaft 10 to achieve tilting drive, a steering drive mechanism and a tilting drive mechanism are respectively provided on the inner sides of the support base 1 and the first joint connecting seat 9.

[0030] Specifically, the steering drive mechanism includes a first motor unit 5, which is located at the center of the lower end of the support shaft 4. The output end of the first motor unit 5 is fixed to the support shaft 4. The tilting drive mechanism includes a second motor unit 17, which is fixed inside the first joint connecting seat 9 and at the lower end of the first rotating shaft 10. The output end of the second motor unit 17 is fixed to a second rotating shaft 18. The end of the second rotating shaft 18 away from the second motor unit 17 is rotatably connected to the first joint connecting seat 9. A worm gear 19 is fixed at the center of the outer side of the second rotating shaft 18. A worm wheel 16 is fixed at the center of the outer side of the first rotating shaft 10 and inside the first joint connecting seat 9. The worm wheel 16 is meshed with the worm gear 19.

[0031] When the first motor unit 5 and the second motor unit 17 are running for a long time, in order to improve the heat dissipation performance of this module and reduce its heat retention rate, thereby reducing the damage to circuit board components, a breathable filter plate 14 is fixed on the inner side of the upper end of the first joint connecting seat 9. An air guide fan 15 is provided on the upper end of the breathable filter plate 14. The air guide fan 15 is fixed to the first joint connecting seat 9. The air guide fan 15 facilitates the guidance of heat dissipation airflow through the breathable filter plate 14 into the first joint connecting seat 9.

[0032] In order to facilitate the further flow of heat dissipation air into the inner side of the support base 1, multiple first arc-shaped through slots 7 are arrayed at the upper end of the support base 1 and on the outer side of the support shaft 4. Second arc-shaped through slots 11 are formed at the bottom end of the first joint connecting seat 9 and at the corresponding positions of the multiple first arc-shaped through slots 7. Heat dissipation of the steering drive mechanism and the tilting drive mechanism can be achieved simultaneously by the heat dissipation airflow passing through and contacting the second motor unit 17 and the first motor unit 5 respectively.

[0033] In order to facilitate the discharge of heat-carrying airflow, ventilation grilles 6 are symmetrically fixed on the outer side of the support base 1.

[0034] A cooling plate is provided at the lower end of the support base 1. The lower end of the first motor unit 5 is fixed to the cooling plate. In order to facilitate the installation and fixing of the support base 1, an assembly frame 2 is symmetrically fixed on the outside of the support base 1 and between the two ventilation grilles 6. Each assembly frame 2 has multiple positioning holes 3 inside.

[0035] All of the above electrical components are electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that performs control. The existing publicly available power connection technology will not be described in detail here. The mechanical transmission components provided in this utility model are all closed designs that can be opened for maintenance. According to the mechanical manual, as long as they are properly maintained, these mechanical transmission components can normally realize the transmission movement claimed above.

[0036] Example 2:

[0037] The robot joint module provided in Example 1 is further optimized, specifically, as follows: Figure 2-3 As shown, when the heat dissipation airflow enters the bearing base 1 through the second arc-shaped through groove 11 and the first arc-shaped through groove 7, in order to guide the heat dissipation airflow to directly contact the first motor unit 5 and improve the heat dissipation effect, a guide tube 8 is fixed on the inner side of the bearing base 1 and located on the outside of the support shaft 4 and the first motor unit 5. In order to facilitate the exhaust of airflow, a rectangular through groove is provided at the lower end of the guide tube 8 and at the position corresponding to the two ventilation grilles 6.

[0038] To ensure the basic load-bearing strength of this module while improving the heat transfer efficiency between the first joint connector 9 and the support base 1, multiple heat-conducting fins 12 are fixedly arranged on the upper end of the support base 1 and on the outer side of the support shaft 4. The upper ends of the multiple heat-conducting fins 12 are all attached to the bottom end of the first joint connector 9, so as to facilitate the direct conduction of some of the heat from the first joint connector 9 and the support base 1 to the cooling substrate for auxiliary heat dissipation. When the heat dissipation airflow flows between the second arc-shaped through groove 11 and the first arc-shaped through groove 7, in order to reduce the obstruction of the airflow by the heat-conducting fins 12, each heat-conducting fin 12 is provided with a vent hole 13.

Claims

1. A robot joint module, characterized in that, The system includes a support base (1), a support shaft (4) rotatably connected to the center of the upper end of the support base (1), a first joint connecting seat (9) fixed to the upper end of the support shaft (4), a first rotating shaft (10) rotatably connected to the inner part of the upper end of the first joint connecting seat (9), a second joint connecting seat (20) fixed to the outer side of the first rotating shaft (10) and the outer side of the first joint connecting seat (9), and a plurality of first arc-shaped through slots (7) arrayed on the upper end of the support base (1) and the outer side of the support shaft (4). A ventilation grille (6) is symmetrically fixed on the outer side. A second arc-shaped through groove (11) is provided at the bottom end of the first joint connecting seat (9) and at the position corresponding to the multiple first arc-shaped through grooves (7). A breathable filter plate (14) is fixed on the inner side of the upper end of the first joint connecting seat (9). An air guide fan (15) is provided at the upper end of the breathable filter plate (14). The air guide fan (15) is fixed to the first joint connecting seat (9). A steering drive mechanism and a tilting drive mechanism are respectively provided on the inner side of the bearing base (1) and the first joint connecting seat (9).

2. The robotic joint module of claim 1, wherein, The steering drive mechanism includes a first motor unit (5), and the first motor unit (5) is provided at the center of the lower end of the support shaft (4). The output end of the first motor unit (5) is fixed to the support shaft (4).

3. The robotic joint module of claim 1, wherein, The tilting drive mechanism includes a second motor unit (17). The second motor unit (17) is fixed inside the first joint connecting seat (9) and at the lower end of the first rotating shaft (10). The output end of the second motor unit (17) is fixed to a second rotating shaft (18). The end of the second rotating shaft (18) away from the second motor unit (17) is rotatably connected to the first joint connecting seat (9). A worm (19) is fixed at the center of the outer side of the second rotating shaft (18). A worm wheel (16) is fixed at the center of the outer side of the first rotating shaft (10) and inside the first joint connecting seat (9). The worm wheel (16) meshes with the worm (19).

4. The robotic joint module of claim 2, wherein, An air guide tube (8) is fixed inside the bearing base (1) and outside the support shaft (4) and the first motor unit (5). A rectangular through groove is provided at the lower end of the air guide tube (8) and at the position corresponding to the two ventilation grilles (6).

5. The robotic joint module of claim 1, wherein, Multiple heat-conducting fins (12) are fixed in an array at the upper end of the bearing base (1) and outside the support shaft (4). The upper ends of the multiple heat-conducting fins (12) are all attached to the bottom end of the first joint connecting seat (9). Each heat-conducting fin (12) has a vent hole (13) inside.

6. The robotic joint module of claim 1, wherein, An assembly frame (2) is symmetrically fixed on the outside of the bearing base (1) and between the two ventilation grilles (6), and each assembly frame (2) has multiple positioning holes (3) inside.

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