A linear joint with air-cooled auxiliary heat dissipation

Abstract

This utility model relates to the field of robot joint technology and discloses a linear joint with air-cooled auxiliary heat dissipation. It includes a housing, with a first end cap and a second end cap fixedly disposed on both sides of the housing. A power rod is disposed inside the housing, slidably connected to the first end cap, with one end of the power rod extending to the outside of the first end cap. A driving component is disposed inside the housing to drive the power rod to move along its axial direction. A cooling fan is disposed in the second end cap, and an air outlet is disposed at the connection between the second end cap and the housing. Several heat sinks are disposed on the outside of the housing, with the air outlet facing the heat sinks. This utility model can effectively dissipate heat from the linear joint, and the heat dissipation effect is good.

Description

Technical Field

[0001] This utility model relates to the field of linear joint technology, and in particular to a linear joint with air-cooled auxiliary heat dissipation. Background Technology

[0002] The joint modules of a humanoid robot are the core components of its motion system, and linear joint modules are key components for realizing the movement of the robot's arm and leg joints. Currently, the linear joints developed for the market generate significant heat during operation due to the rapid acceleration, deceleration, high speed, and high torque conditions encountered in humanoid robots. Temperatures often exceed 70-80 degrees Celsius. Sustained high temperatures can easily lead to internal structural damage or trigger warnings from detection devices. Although the metal shells of current linear joints have heat dissipation capabilities, the effect is poor and the cooling is slow. To ensure stable operation of linear joints over extended periods, further cooling methods are necessary. Therefore, a linear joint with air-cooled auxiliary heat dissipation is urgently needed to solve this problem. Utility Model Content

[0003] The purpose of this invention is to provide a linear joint with air-cooled auxiliary heat dissipation, which has the effect of heat dissipation for the linear joint.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0005] A linear joint with air-cooled auxiliary heat dissipation includes a housing. A first end cover and a second end cover are fixedly disposed on both sides of the housing. A power rod is disposed inside the housing. The power rod is slidably connected to the first end cover and one end of the power rod extends to the outside of the first end cover. A drive component is disposed inside the housing to drive the power rod to move along its axial direction. A cooling fan is disposed in the second end cover. An air outlet is disposed at the connection between the second end cover and the housing. A plurality of heat sinks are disposed on the outside of the housing, and the air outlet faces the heat sinks.

[0006] As a further feature of this invention, the cooling fan is equipped with an independent fan, which drives the cooling fan to rotate.

[0007] As a further feature of this invention, the driving component includes a motor and a ball screw. The motor includes a stator and a rotor. The stator is fixedly disposed inside the housing, and the rotor is coaxially disposed inside the stator. The ball screw includes a ball screw component and a nut component. The rotor is fixedly connected to the nut component, and the ball screw component is coaxially fixedly connected to the power rod.

[0008] As a further feature of this utility model, a fixing sleeve is provided between the rotor and the nut component, the fixing sleeve is rotatably disposed between the fixing sleeve and the housing, the rotor is fixedly disposed on the outside of the fixing sleeve, and the nut component is fixedly connected to the inner wall of the fixing sleeve.

[0009] As a further feature of this invention, an angular contact ball bearing is provided between the fixing sleeve and the housing.

[0010] As a further feature of this invention, an encoder is fixedly installed inside the housing, and the encoder is coaxially arranged with the power rod. The encoder is located on the side of the housing near the cooling fan and is used to detect changes in the angle of the power rod. A driver is installed on the outside of the housing and is used to control the rotation of the motor.

[0011] As a further feature of this invention, a first through hole is provided on the first end cap, an anti-rotation block is provided in the first through hole, at least one first plane is provided on the outer wall of the anti-rotation block, a second plane matching the first plane is provided on the side wall of the first through hole, the first plane and the second plane abut against each other, at least one third plane is provided on the inner wall of the anti-rotation block, and a fourth plane matching the third plane is provided on the outer wall of the power rod, the third plane and the fourth plane abut against each other.

[0012] As a further feature of this invention, a first joint bearing is fixedly mounted on the outside of the first end cover of the power rod, and a second joint bearing is coaxially mounted on the second end cover with the power rod.

[0013] As a further feature of this utility model, the two ends of the housing are provided with a first connecting portion, and the first end cover and the second end cover are provided with a second connecting portion on the side near the first connecting portion. The first connecting portion and the second connecting portion are provided with a second through hole, and a locking member is provided in the second through hole.

[0014] As a further feature of this invention, the locking element includes a screw, and the second through hole is provided with threads that match the screw.

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

[0016] This invention features a cooling fan at one end of a linear joint and an air outlet on the housing. The cooling fan blows the high-temperature gas generated inside the linear joint out through the air outlet to the outside of the housing. Heat sinks are installed on the outside of the housing. When the temperature inside the linear joint rises, the heat is transferred to the housing, causing the housing to heat up. The heat sinks effectively dissipate heat from the housing, thus removing the heat from inside the linear joint. On the other hand, the hot air blown out by the cooling fan can also be cooled by the heat sinks, thereby achieving a good heat dissipation effect for the linear joint. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the external structure of this embodiment;

[0019] Figure 2 This is a cross-sectional structural diagram of this embodiment;

[0020] In the figure, 1. Housing, 2. First end cover, 3. Second end cover, 4. Power rod, 5. Cooling fan, 6. Air outlet, 7. Heat sink, 8. Motor, 81. Stator, 82. Rotor, 9. Roller screw, 10. Fixing sleeve, 11. Angular contact ball bearing, 12. Encoder, 13. Anti-rotation block, 14. First spherical bearing, 15. Second spherical bearing, 16. First connecting part, 17. Second connecting part. Detailed Implementation

[0021] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0022] A linear joint with air-cooled auxiliary heat dissipation, reference Figure 1 and Figure 2 It includes a housing 1, a first end cover 2 and a second end cover 3, a motor 8, a lead screw 9, a power rod 4, an encoder 12, a driver, and a heat dissipation mechanism. The specific structure is as follows:

[0023] The housing 1, the first end cap 2, and the second end cap 3 form the external structure of a linear joint. First connecting portions 16 are provided at both ends of the housing 1. Second connecting portions 17 are provided on the side of the first end cap 2 and the second end cap 3 near the first connecting portions 16. Second through holes are provided on the first connecting portions 16 and the second connecting portions 17, and locking elements are provided in the second through holes. In this embodiment, the locking element includes a screw, and the second through hole has threads matching the screw. The two end caps are fixed to the housing 1 by the action of the screw.

[0024] The motor 8 includes a stator 81 and a rotor 82. The stator 81 is fixedly connected to the inner wall of the housing 1. The rotor 82 is coaxially disposed inside the stator 81. In order to stabilize the rotor 82, a fixing sleeve 10 is fixedly connected to the rotor 82. The fixing sleeve 10 is rotatably connected to the housing 1. In this embodiment, an angular contact ball bearing 11 is provided between the fixing sleeve 10 and the housing 1. The rotor 82 can be made more stable through the function of the bearing. The motor 8 is also connected to a driver. When working, the driver and the motor 8 are energized. The driver controls the rotor 82 of the motor 8 to rotate, and the rotor 82 controls the rotation of the ball screw 9.

[0025] Since the actuator is also a heat-generating component, in order to better control the internal temperature of the linear joint, this embodiment places the actuator on the outside of the housing 1, and the specific connection method is a conventional setting for those skilled in the art.

[0026] In another embodiment, the driver can also be located inside the housing 1, preferably on the side close to the cooling fan 5, which can better dissipate heat from the linear joint.

[0027] The ball screw 9 includes a screw assembly and a nut assembly. A fixed sleeve 10 is coaxially and fixedly connected to the nut assembly, while the screw assembly is coaxially and fixedly connected to the power rod 4. One end of the power rod 4 is slidably connected to the first end cover 2. During operation, when the rotor 82 rotates, it drives the nut assembly to rotate. The rotation direction of the rotor 82 is controlled by a driver, thereby controlling the rotation direction of the nut assembly. This causes the screw assembly to move back and forth along its axis, thus controlling the back and forth movement of the power rod 4. The power rod 4 connects to other components of the robot, thereby controlling the robot's movement. In this embodiment, a reversible planetary ball screw is used.

[0028] In this embodiment, the motor 8 generates a large amount of heat during operation. The heat dissipation mechanism dissipates heat from the motor 8 and the interior of the linear joint. Specifically, the heat dissipation structure includes a cooling fan 5 and a heat sink 7. The cooling fan 5 is located in the second end cover 3. An air outlet 6 is provided at the connection between the housing 1 and the second end cover 3. The heat sink 7 is located on the outside of the housing 1, with the air outlet 6 facing the heat sink 7. To ensure the heat dissipation effect, the cooling fan 5 is an independently operating component, including an independently operating fan. The fan is powered separately and drives the cooling fan 5 to work, blowing the high-temperature gas inside the linear joint out from the air outlet 6. The heat is dissipated through the heat sink 7. At the same time, when the interior of the linear joint heats up, the heat is transferred to the housing 1, causing the housing 1 to heat up. The heat sink 7 can effectively dissipate heat from the housing 1, thereby dissipating the heat inside the linear joint.

[0029] The encoder 12 is installed inside the housing 1. The encoder 12 is coaxially arranged with the power rod 4. The encoder 12 is located on the side of the housing 1 near the cooling fan 5. The encoder 12 is used to detect the angle change of the power rod 4.

[0030] To ensure the stability of the linear joint during operation, a first through hole is provided on the first end cap 2, and an anti-rotation block 13 is installed in the first through hole. The outer wall of the anti-rotation block 13 has at least two first planes, and the side wall of the first through hole has a second plane that matches the first planes. The first and second planes abut against each other. The inner wall of the anti-rotation block 13 has at least two third planes, and the outer wall of the power rod has a fourth plane that matches the third planes. The third and fourth planes abut against each other. Through the action of the anti-rotation block 13, the power rod 4 can achieve stable linear motion under the action of the ball screw 9.

[0031] In addition, to facilitate the connection of the linear joint with other joints, the power rod 4 is connected to a first joint bearing 14 at one end of the first end cap 2, and a second joint bearing 15 is fixedly installed on the second end cap 3. The two joint bearings are used to connect with other joints.

[0032] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A linear joint with air-cooled auxiliary heat dissipation, characterized in that: The device includes a housing (1), on which a first end cap (2) and a second end cap (3) are fixedly disposed on both sides. A power rod (4) is disposed inside the housing (1). The power rod (4) is slidably connected to the first end cap (2) and one end of the power rod (4) extends to the outside of the first end cap (2). A driving component is disposed inside the housing (1) to drive the power rod (4) to move along its axial direction. A cooling fan (5) is disposed in the second end cap (3). An air outlet (6) is disposed at the connection between the second end cap (3) and the housing (1). Several heat sinks (7) are disposed on the outside of the housing (1). The air outlet (6) faces the heat sinks (7).

2. A linear joint for air-cooled auxiliary heat dissipation according to claim 1, characterized in that: The cooling fan (5) is equipped with an independent fan, which drives the cooling fan (5) to rotate.

3. A linear joint with air-cooled auxiliary heat dissipation according to claim 1, characterized in that: The driving component includes a motor (8) and a ball screw (9). The motor (8) includes a stator (81) and a rotor (82). The stator (81) is fixedly disposed inside the housing (1). The rotor (82) is coaxially disposed inside the stator (81). The ball screw (9) includes a screw component and a nut component. The rotor (82) is fixedly connected to the nut component. The screw component is coaxially fixedly connected to the power rod (4).

4. A linear joint with air-cooled auxiliary heat dissipation according to claim 3, characterized in that: A fixing sleeve (10) is provided between the rotor (82) and the nut component. The fixing sleeve (10) is rotatably disposed between the fixing sleeve (1) and the housing (1). The rotor (82) is fixedly disposed on the outside of the fixing sleeve (10). The nut component is fixedly connected to the inner wall of the fixing sleeve (10).

5. A linear joint with air-cooled auxiliary heat dissipation according to claim 4, characterized in that: An angular contact ball bearing (11) is provided between the fixed sleeve (10) and the housing (1).

6. A linear joint for air-cooled auxiliary heat dissipation according to claim 3, characterized in that: An encoder (12) is fixedly installed inside the housing (1). The encoder (12) is coaxially arranged with the power rod (4). The encoder (12) is located on the side of the housing (1) near the cooling fan (5). The encoder (12) is used to detect the angle change of the power rod (4). A driver is provided on the outside of the housing (1). The driver is used to control the rotation of the motor (8).

7. A linear joint with air-cooled auxiliary heat dissipation according to claim 1, characterized in that: The first end cap (2) is provided with a first through hole, and an anti-rotation block (13) is provided in the first through hole. The outer wall of the anti-rotation block (13) is provided with at least one first plane, and the side wall of the first through hole is provided with a second plane that matches the first plane. The first plane and the second plane abut against each other. The inner hole wall of the anti-rotation block (13) is provided with at least one third plane, and the outer wall of the power rod (4) is provided with a fourth plane that matches the third plane. The third plane and the fourth plane abut against each other.

8. A linear joint for air-cooled auxiliary heat dissipation according to claim 1, characterized in that: The power rod (4) is fixedly provided with a first joint bearing (14) on the outside of the first end cover (2), and a second joint bearing (15) is provided on the second end cover (3) coaxially with the power rod (4).

9. A linear joint for air-cooled auxiliary heat dissipation according to claim 1, characterized in that: The housing (1) has a first connecting part (16) at both ends. The first end cover (2) and the second end cover (3) have a second connecting part (17) on the side close to the first connecting part (16). The first connecting part (16) and the second connecting part (17) have a second through hole, and a locking member is provided in the second through hole.

10. A linear joint with air-cooled auxiliary heat dissipation according to claim 9, characterized in that: The locking element includes a screw, and the second through hole has threads that match the screw.

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