CN-121989216-A - Air-cooled joint module and robot

CN121989216ACN 121989216 ACN121989216 ACN 121989216ACN-121989216-A

Abstract

The invention discloses an air-cooled joint module and a robot, wherein the joint module comprises a shell, a frameless torque motor, a speed reducing assembly and a revolving frame, a containing cavity isolated from an inner cavity is arranged in a shell wall of the shell, an air inlet and an air outlet which are communicated with the containing cavity are formed in the shell, an impeller is arranged in the containing cavity in a rotating mode, one end of a wheel shaft of the impeller extends into the inner cavity in a sealing mode and is connected with a driven magnet, a driving magnet is arranged on the revolving frame, the revolving frame drives the impeller to rotate in a non-contact mode through magnetic coupling, and heat dissipation air flow flowing from the air inlet to the air outlet is generated in the containing cavity. According to the invention, the heat dissipation air duct is integrated in the shell wall, external power is not needed, and under the condition that the influence on the axial dimension of the joint module is small, efficient active heat dissipation is realized, and the tightness, dust prevention and water resistance of the joint module are ensured.

Inventors

ZHOU GAOJIAN
PENG ZHIYUAN
CHEN HAOJIE
ZHAO KUN
CHEN YAO
CHEN DAWEN
YE GUOBO
LI CHANGJIANG
LI CHAOYANG
WU JI

Assignees

重庆青山工业有限责任公司

Dates

Publication Date: 20260508
Application Date: 20260402

Claims (10)

1. The air-cooled joint module comprises a shell, a frameless torque motor, a speed reducing assembly and a revolving frame, wherein the shell is provided with a cylindrical inner cavity, the frameless torque motor is coaxially arranged in the inner cavity, the speed reducing assembly is arranged on the inner side of the frameless torque motor, the revolving frame is coaxially arranged in the inner cavity and is positioned on one axial side of the frameless torque motor, the radial outer edge of the revolving frame is fixedly connected with a rotor of the frameless torque motor, and the radial inner edge of the revolving frame is in transmission connection with the speed reducing assembly.
2. The air-cooled joint module of claim 1, wherein the radial shell wall of the shell is provided with an inward opening yielding groove, the yielding groove and the revolving frame are positioned at the same axial position of the shell, the accommodating cavity is positioned in the radial shell wall of the shell and is opposite to the yielding groove in axial direction, the shell forms a separation part between the accommodating cavity and the yielding groove, the wheel shaft of the impeller is axially arranged along the shell, the two ends of the wheel shaft are respectively provided with a driving end and a driven end, the driven end is far away from the separation part and is rotationally connected with the shell, the driving end penetrates through the separation part and is in rotationally sealed fit with the separation part, the driving end is positioned in the yielding groove and is connected with a driven magnet, the magnetization direction of the driven magnet is perpendicular to the wheel shaft, the magnetization direction of the driving magnet is radially corresponding to the revolving frame where the driven magnet is positioned, and the magnetization directions of the driving magnets are opposite to each other.
3. The air-cooled joint module as set forth in claim 2, wherein the housing extends axially along the housing and the frameless torque motor are located at the same axial position of the housing, and the air inlet and the air outlet are respectively connected to two ends of the housing.
4. The air-cooled joint module as set forth in claim 2, wherein the plurality of accommodating cavities are circumferentially and uniformly distributed, and the plurality of relief grooves are in one-to-one correspondence with the accommodating cavities.
5. The air-cooled joint module as set forth in claim 2, wherein the impeller comprises a torsion blade and a wheel shaft, the length direction of the torsion blade corresponds to the axial direction of the shell, the torsion axis of the torsion blade is a central line in the width direction of the torsion blade, and the wheel shaft is provided with two sections and is respectively connected with two ends of the torsion blade.
6. The air-cooled joint module as set forth in claim 4, wherein the two impellers are symmetrically disposed in the accommodating cavity along the circumferential direction of the housing, and the communicating portions of the accommodating cavity with the air inlet and the air outlet are located at the middle of the accommodating cavity in the circumferential direction of the housing.
7. The air-cooled joint module as set forth in claim 6, wherein the cross-sectional shape of the housing cavity is a kidney-shaped shape having a length corresponding to the circumference of the housing.
8. The air-cooled joint module as set forth in claim 6, wherein the housing comprises a main housing body, a first retainer, a second retainer and a sub-housing body, wherein the housing wall of the main housing body is cylindrical, and the accommodating cavity is positioned in the housing wall of the main housing body and axially penetrates through the housing wall; The auxiliary shell is connected to one side of the first retainer, which is far away from the main shell, an abutting part and a supporting part are formed on one surface of the auxiliary shell, which faces the first retainer, in a protruding way, the abutting part and the supporting part are all abutted with the first retainer, the abutting part is annular, each accommodating cavity is positioned at the inner side of the abutting part, the supporting part extends inwards from the inner side surface of the abutting part in a radial direction, a plurality of abutting parts are uniformly distributed in a circumferential direction, the abdicating grooves are formed between the adjacent abutting parts, and the inner sides of the auxiliary shell and the main shell are formed into the inner cavity; The first retainer is provided with shaft holes in a penetrating mode, the number and the distribution state of the shaft holes are matched with those of the impellers, the driving end penetrates through the corresponding shaft holes in a sealing mode and stretches into the inner cavity, the second retainer is provided with rotating grooves on one face, facing the main shell, of the second retainer, the number and the distribution state of the rotating grooves are matched with those of the impellers, and the driven end is located in the corresponding rotating grooves and is in rotary fit.
9. The air-cooled joint module as set forth in claim 8, wherein a plurality of threaded holes are circumferentially distributed on the end face of the main housing, the threaded holes and the accommodating cavity are circumferentially and alternately distributed, a plurality of connecting holes are correspondingly formed in the first retainer and the second retainer, bolts are arranged on the auxiliary housing, rod portions of the bolts penetrate through the connecting holes in the auxiliary housing and the first retainer and are in threaded connection with the threaded holes in the corresponding end face of the main housing so as to tightly fix the auxiliary housing and the first retainer on the main housing, screws are arranged on the second retainer, rod portions of the screws penetrate through the connecting holes in the second retainer and are in threaded connection with the threaded holes in the corresponding end face of the main housing so as to tightly fix the auxiliary housing and the second retainer on the main housing, counter bores are formed in part of the threaded holes, at least two counter bores are formed in the same end face of the main housing, annular bosses corresponding to the counter bores are formed in a protruding mode on the first retainer and the second retainer, and the annular bosses are located in the corresponding counter bores so as to position the first retainer and the second retainer on the main housing circumferentially.
10. A robot comprising an air cooled joint module according to any one of claims 1-9.

Description

Air-cooled joint module and robot Technical Field The invention relates to the technical field of manipulator joints in execution operation, in particular to an air-cooled joint module and a robot. Background With the development of the robot joint module towards high integration level and high power density, an integrated structure of a shell, a frameless torque motor and a speed reducer is adopted to become a mainstream, in the structure, the motor, the speed reducer and a driving and controlling assembly are highly integrated in a sealed shell, the speed reducer is driven by a motor rotor through a revolving frame to realize speed reduction and torque increase output, but the structure also causes a main heat source (a motor winding, the driving and controlling assembly and a meshing area of the speed reducer) to be highly concentrated, the heat is transmitted outwards through the shell, the heat resistance is large, and the heat accumulation easily causes demagnetization of the motor, ageing of a device, lubrication failure and precision attenuation, so that the reliability and the service life of the joint module can be seriously influenced. At present, the heat dissipation scheme aiming at the joint module is mainly divided into two major types, namely passive heat dissipation and active heat dissipation, wherein the heat dissipation area is enlarged by increasing a shell fin, but the efficiency is low when no forced convection exists, the heat dissipation is difficult to cope with high-load working conditions with large heat productivity, the active heat dissipation has various structural forms, such as a Chinese patent CN115476385A, an independent fan is additionally arranged at the end part of the joint module, a fan, a semiconductor refrigerating sheet and a ventilation pipeline are additionally arranged, the axial dimension of the joint module is increased, an additional electric interface is introduced, the integral tightness is influenced, certain difficulty is brought to waterproof and dustproof design, the heat dissipation blades are combined with an internal transmission shaft, the air flow is driven by the rotation of the motor per se, the space is saved, the blades rotate at a high speed in the shell, the internal air flow and a pressure field are disturbed, the stable work of precision elements such as an encoder is possibly disturbed, the dynamic seal in the shell has higher requirements, the leakage risk exists in long-term operation, such as a Chinese patent CN205438618U, the heat exchange efficiency is high, the heat exchange efficiency is complex, the joint is compact, the overall design is compact, and the joint is not light, and the design is not in accordance with the goals of high. In summary, the existing heat dissipation scheme of the joint module is difficult to balance the joint module with compact structure, excellent sealing and low additional complexity, and the improvement of heat dissipation capability is usually at the cost of sacrificing the axial dimension, damaging the internal environment or introducing a huge external system, so that a heat dissipation scheme with compact structure and better dustproof and waterproof performances is needed. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to solve the technical problems of complex heat dissipation structure and weaker reliability of the existing joint module, and provides an air-cooled joint module and a robot, which can achieve the effect of improving the heat dissipation capacity of the joint module. In order to solve the technical problems, the technical scheme adopted by the invention is as follows: The air-cooled joint module comprises a shell, a frameless torque motor, a speed reducing assembly and a revolving frame, wherein the shell is provided with a cylindrical inner cavity, the frameless torque motor is coaxially arranged in the inner cavity, the speed reducing assembly is arranged on the inner side of the frameless torque motor, the revolving frame is coaxially arranged in the inner cavity and is positioned on one axial side of the frameless torque motor, the radial outer edge of the revolving frame is fixedly connected with a rotor of the frameless torque motor, the radial inner edge of the revolving frame is in transmission connection with the speed reducing assembly, a containing cavity isolated from the inner cavity is formed in a shell wall of the shell, an air inlet and an air outlet which are communicated with the containing cavity are formed in the shell, an impeller is arranged in the containing cavity in a rotating mode, one end of an axle of the impeller is sealed and stretches into the inner cavity and is connected with a driven magnet, a plurality of driving magnets are circumferentially distributed on the revolving frame, and when the revolving frame rotates, the impeller is driven to rotate through the magnetic force of the driving magnets and the driving