High heat dissipation enclosure for robotic joints
Patent Information
- Application Number
- CN202522469422.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-21
- Publication Date
- 2026-10-30
- Estimated Expiration
- 2035-11-21
AI Technical Summary
[0004]1、电机退磁、绝缘老化；
[0022]与现有技术相比，本用于机器人关节的高散热外壳由于壳体是由外壳体和内壳体组成，位于外壳体与内壳体之间的散热件不仅起到散热作用，而且填充在外壳体与内壳体之间后还能保证整个壳体强度。
Smart Images
Figure CN224914804U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of mechanical technology, and more specifically to a high heat dissipation shell for robot joints. Background Technology
[0002] Cooling the robot joints is a key technology to ensure that robots (especially industrial robots, collaborative robots, and humanoid robots) can operate stably for a long time with high precision and high load.
[0003] The joint area integrates high-heat-generating components such as motors, reducers, drivers, and encoders. If the heat cannot be dissipated in time, it will lead to:
[0004] 1. Motor demagnetization and insulation aging;
[0005] 2. Reducer lubrication failure and accelerated wear;
[0006] 3. The driver shuts down due to overheating protection;
[0007] 4. Encoder signal drift, resulting in inaccurate positioning;
[0008] 5. Overall lifespan is shortened and failure rate is increased.
[0009] Cooling robot joints is a complex systems engineering project that integrates multiple disciplines, requiring a balance between space, weight, cost, and reliability. As robots evolve towards higher power density, miniaturization, and intelligence, natural convection is no longer sufficient to meet the demands of robot joints with transmission systems. Utility Model Content
[0010] The purpose of this invention is to address the aforementioned problems in existing technologies by providing a lightweight and heat-dissipating high-heat-dissipation shell for robot joints.
[0011] To achieve the above objectives, this utility model can be implemented through the following technical solutions:
[0012] A high-heat-dissipation shell for robot joints includes a shell with an internal cavity, wherein a motor for driving the robot joint movement can be placed inside the shell. The shell is characterized in that it includes an outer shell and an inner shell fixed inside the outer shell, and a heat dissipation cavity with a sandwich structure is formed between the outer shell and the inner shell. The heat dissipation cavity has a heat dissipation component that can dissipate heat quickly. The outer shell has through-holes that communicate with the heat dissipation cavity.
[0013] In the aforementioned high heat dissipation housing for robot joints, the upper end of the inner housing is open, the upper end of the outer housing is open, the outer side of the upper end of the inner housing has a protruding connecting edge, and the upper end of the outer housing is fixed to the connecting edge.
[0014] In the aforementioned high heat dissipation housing for robot joints, the inner housing also has a heat-conducting layer. The outer side of the heat-conducting layer is in contact with the inner side of the inner housing. When the motor is installed in the housing, the inner side of the heat-conducting layer can contact the outer side of the motor.
[0015] In the aforementioned high heat dissipation housing for robot joints, the inner housing has protruding heat-conducting pillars that are embedded in the heat dissipation cavity and are covered by heat dissipation components.
[0016] In the aforementioned high heat dissipation shell for robot joints, the heat-conducting pillars and the inner shell are an integral structure.
[0017] In the aforementioned high heat dissipation housing for robot joints, the outer end of the heat-conducting pillar abuts against the inner side of the housing.
[0018] In the aforementioned high heat dissipation housing for robot joints, there are several heat-conducting pillars distributed in the upper and middle parts of the housing.
[0019] In the aforementioned high heat dissipation housing for robot joints, a waterproof and breathable membrane is connected to the heat dissipation holes.
[0020] In the aforementioned high heat dissipation housing for robot joints, the connecting edge has a recessed connecting seat, and the upper port of the housing is tightly fitted to the connecting seat.
[0021] In the aforementioned high heat dissipation housing for robot joints, the connecting edge is an integral structure with the inner housing.
[0022] Compared with existing technologies, the high heat dissipation shell used for robot joints is composed of an outer shell and an inner shell. The heat dissipation component located between the outer shell and the inner shell not only plays a heat dissipation role, but also ensures the strength of the entire shell after being filled between the outer shell and the inner shell.
[0023] Because the shell formed by the outer casing, inner casing, and heat sink has the same thickness as a regular shell, and the phase change heat dissipation material is lighter than a regular metal shell, this shell ensures effective heat dissipation while effectively reducing its own weight. In other words, after the motor is installed inside this shell, the heat generated during motor operation can be quickly dissipated, preventing the shell from generating excessive heat that cannot be dissipated in time during robot operation. Attached Figure Description
[0024] Figure 1 This is a three-dimensional structural diagram of a high-heat-dissipation shell used for robot joints.
[0025] Figure 2 This is a cross-sectional structural diagram of a high-heat-dissipation shell used for robot joints.
[0026] In the picture:
[0027] 1. Outer shell; 11. Heat dissipation holes; 2. Inner shell; 21. Connecting edge; 211. Connecting seat; 22. Heat-conducting column; 3. Heat dissipation component; 4. Heat-conducting layer; 5. Waterproof and breathable membrane. Detailed Implementation
[0028] The following are specific embodiments of the present invention, and the technical solution of the present invention will be further described in conjunction with the accompanying drawings.
[0029] like Figure 1 and Figure 2 As shown, the high heat dissipation shell for robot joints includes a shell with an internal cavity, in which a motor that drives the robot joint movement can be placed. The shell includes an outer shell 1 and an inner shell 2 fixed inside the outer shell 1. A heat dissipation cavity with a sandwich structure is formed between the outer shell 1 and the inner shell 2. The heat dissipation cavity has a heat dissipation component 3 that can dissipate heat quickly. The outer shell 1 has a through heat dissipation hole 11 that communicates with the heat dissipation cavity.
[0030] Since the thickness of the shell remains the same as the original design thickness, the total thickness of the outer shell 1, the inner shell 2 and the heat sink 3 is consistent with the original design shell thickness.
[0031] Since the density of the heat sink 3 is lower than that of the outer shell 1 and the inner shell 2, the weight of the entire shell is effectively reduced.
[0032] Meanwhile, heat sink 3 uses a phase change material with good heat dissipation performance. Since the phase change material is a commercially available component, its technical characteristics will not be elaborated upon in this embodiment.
[0033] In this embodiment, heat sink 3 is a Therm-Flow TM 4200 series thermally conductive phase change gel.
[0034] The aforementioned thermally conductive phase change gel can operate stably in environments ranging from -50℃ to +160℃, and the material has passed stringent tests such as high temperature (150℃ baking), high humidity (85℃ / 85%RH), and thermal cycling (-25℃ to 125℃).
[0035] The above-mentioned thermally conductive phase change gel has the following characteristics:
[0036] 1. High-efficiency thermal management
[0037] The aforementioned thermally conductive phase change gel can achieve continuous heat dissipation in core components of humanoid robots, such as joint motors and drive controllers.
[0038] The thermal conductivity of phase change gel can reach over 8.5 W / m·K, and its thermal resistance is significantly lower than that of traditional silicone grease. It can quickly dissipate the heat generated by high-power modules (such as motor drivers and IGBTs) and prevent performance degradation.
[0039] 2. Resistance to mechanical stress
[0040] Exoskeleton joints require frequent movement, and ordinary thermally conductive materials are prone to peeling off due to vibration. Phase change gels, after curing, possess flexibility and high adhesion, can withstand dynamic deformation, and avoid heat dissipation failure due to mechanical movement.
[0041] 3. Long-term reliability
[0042] Phase change materials that have undergone 1,000 cycles of thermal cycling have a lifespan far exceeding that of silicone grease (which typically needs to be replaced every 1-2 years), meeting the maintenance-free design requirements of robot products.
[0043] This demonstrates that, while ensuring adequate strength throughout the shell, the weight of the shell has also been effectively reduced.
[0044] The heat generated during motor operation is conducted through the inner casing 2 to the heat sink 3, where it is quickly dissipated. The heat dissipation holes 11 on the outer casing 1 provide a stable channel for the dissipation of heat generated by the motor.
[0045] The inner shell 2 has an opening at its upper end, the outer shell 1 has an opening at its upper end, the outer side of the upper end of the inner shell 2 has a protruding connecting edge 21, and the upper end of the outer shell 1 is fixed to the connecting edge 21.
[0046] The connecting edge 21 provides sufficient space for the outer casing 1 to be connected.
[0047] The inner housing 2 also has a heat-conducting layer 4. The outer side of the heat-conducting layer 4 is in contact with the inner side of the inner housing 2. When the motor is installed in the housing, the inner side of the heat-conducting layer 4 can contact the outer side of the motor.
[0048] The heat-conducting layer 4 serves as a stable filler, meaning that the outer side of the heat-conducting layer 4 can maintain stable contact with the inner shell 2, and the inner side of the heat-conducting layer 4 can maintain stable contact with the motor. This ensures that the heat generated at the motor can be dissipated quickly.
[0049] In this embodiment, the heat-conducting layer 4 is a Therm-Flow TM 4200 series thermally conductive phase change gel.
[0050] The aforementioned thermally conductive phase change gel can operate stably in environments ranging from -50℃ to +160℃, and the material has passed stringent tests such as high temperature (150℃ baking), high humidity (85℃ / 85%RH), and thermal cycling (-25℃ to 125℃).
[0051] The above-mentioned thermally conductive phase change gel has the following characteristics:
[0052] 1. High-efficiency thermal management
[0053] The aforementioned thermally conductive phase change gel can achieve continuous heat dissipation in core components of humanoid robots, such as joint motors and drive controllers.
[0054] The thermal conductivity of phase change gel can reach over 8.5 W / m·K, and its thermal resistance is significantly lower than that of traditional silicone grease. It can quickly dissipate the heat generated by high-power modules (such as motor drivers and IGBTs) and prevent performance degradation.
[0055] 2. Resistance to mechanical stress
[0056] Exoskeleton joints require frequent movement, and ordinary thermally conductive materials are prone to peeling off due to vibration. Phase change gels, after curing, possess flexibility and high adhesion, can withstand dynamic deformation, and avoid heat dissipation failure due to mechanical movement.
[0057] 3. Long-term reliability
[0058] Phase change materials that have undergone 1,000 cycles of thermal cycling have a lifespan far exceeding that of silicone grease (which typically needs to be replaced every 1-2 years), meeting the maintenance-free design requirements of robot products.
[0059] The inner shell 2 has protruding heat-conducting pillars 22, which are embedded in the heat dissipation cavity and are covered by the heat dissipation component 3.
[0060] The heat-conducting column 22 and the inner shell 2 are an integral structure.
[0061] The outer end of the heat-conducting column 22 abuts against the inner side of the outer casing 1.
[0062] The heat-conducting pillar 22 has two functions:
[0063] Firstly, the outer shell 1 and the inner shell 2 are supported to prevent the heat dissipation cavity from collapsing;
[0064] Secondly, it plays a certain role in heat dissipation.
[0065] The number of heat-conducting pillars 22 is several, and the heat-conducting pillars 22 are distributed in the upper and middle parts of the shell.
[0066] The arrangement of several heat-conducting pillars 22 can provide stable support for the heat dissipation cavity.
[0067] Meanwhile, several heat-conducting pillars 22 are concentrated in the upper and middle parts of the shell, which simplifies the overall structure.
[0068] A waterproof and breathable membrane 5 is connected to the heat dissipation hole 11.
[0069] The waterproof and breathable membrane 5 is a common commercially available component, therefore, it will not be described in detail in the embodiments.
[0070] The connecting edge 21 has a recessed connecting seat 211, and the upper port of the outer shell 1 is tightly connected to the connecting seat 211.
[0071] Since the connector 211 matches the port on the outer casing 1, the outer casing 1 can be stably connected to the inner casing 2.
[0072] The connecting edge 21 and the inner shell 2 are an integral structure.
[0073] This can appropriately improve the structural compactness of the entire shell.
[0074] The high heat dissipation shell used for robot joints consists of an outer shell and an inner shell. The heat dissipation component located between the outer shell and the inner shell not only plays a role in heat dissipation, but also ensures the strength of the entire shell after being filled between the outer shell and the inner shell.
[0075] Because the shell formed by the outer casing, inner casing, and heat sink has the same thickness as a regular shell, and the phase change heat dissipation material is lighter than a regular metal shell, this shell ensures effective heat dissipation while effectively reducing its own weight. In other words, after the motor is installed inside this shell, the heat generated during motor operation can be quickly dissipated, preventing the shell from generating excessive heat that cannot be dissipated in time during robot operation.
[0076] The above-described technical solution of this utility model addresses the problem that existing technical solutions are too simplistic and provides a solution that is significantly different from existing technologies. The parts not covered in this application's technical solution are the same as or can be implemented using existing technologies, and will not be described in detail here.
[0077] The technical solutions in the above embodiments have clearly and completely described the content of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
Claims
1. A high-heat-dissipation housing for a robot joint, comprising a housing with an internal cavity, wherein a motor for driving the robot joint movement is housed within the housing, characterized in that, The housing includes an outer shell and an inner shell fixed within the outer shell. A heat dissipation cavity with a sandwich structure is formed between the outer shell and the inner shell. The heat dissipation cavity has a heat dissipation component that can dissipate heat quickly. The outer shell has through-holes that communicate with the heat dissipation cavity.
2. The high heat dissipation housing for robot joints according to claim 1, characterized in that, The inner shell has an opening at its upper end, the outer shell has an opening at its upper end, the outer side of the upper end of the inner shell has a protruding connecting edge, and the upper end of the outer shell is fixed to the connecting edge.
3. The high heat dissipation housing for robot joints according to claim 1, characterized in that, The inner housing also has a heat-conducting layer, the outer side of which contacts the inner side of the inner housing. When the motor is installed in the housing, the inner side of the heat-conducting layer can contact the outer side of the motor.
4. The high heat dissipation housing for robot joints according to claim 1, 2, or 3, characterized in that, The inner shell has protruding heat-conducting pillars, which are embedded in the heat dissipation cavity and covered by heat dissipation components.
5. The high heat dissipation housing for robot joints according to claim 4, characterized in that, The heat-conducting pillar and the inner shell are an integral structure.
6. The high heat dissipation housing for robot joints according to claim 5, characterized in that, The outer end of the heat-conducting pillar abuts against the inner side of the outer shell.
7. The high heat dissipation housing for robot joints according to claim 6, characterized in that, The number of heat-conducting pillars is several, and these pillars are distributed in the upper and middle parts of the shell.
8. The high heat dissipation housing for robot joints according to claim 1, 2, or 3, characterized in that, A waterproof and breathable membrane is connected to the heat dissipation holes.
9. The high heat dissipation housing for robot joints according to claim 2, characterized in that, The connecting edge has a recessed connecting seat, and the upper port of the outer casing is tightly connected to the connecting seat.
10. The high heat dissipation housing for robot joints according to claim 9, characterized in that, The connecting edge and the inner shell are an integral structure.