CN214870694U - Robot - Google Patents

Abstract

The utility model discloses a robot relates to the robotechnology field. The robot comprises a base, a control assembly, a protective cover and a driving assembly, wherein the control assembly is arranged in the base; the protective cover is arranged outside the base, and a plurality of heat dissipation holes are formed in the protective cover; the drive assembly comprises a motor, and the motor is arranged in the protective cover and is electrically connected with the control assembly. The robot can achieve light weight design while improving heat dissipation capacity.

Description

Robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot.

Background

With the progress of the mechatronic technology and the vigorous development of artificial intelligence wave, industrial products are developed towards the direction of intellectualization, systematization, miniaturization, modularization and man-machine cooperation. Traditional industrial robots are all in a driving and controlling separated design, a controller can be separated from the robot, and a control cabinet is designed independently for installing the controller. However, with the trend of the industrial robots gradually becoming smaller and lighter in weight in recent years, the drive and control integrated robot which is plug-and-play, convenient to carry and install has become a great trend. However, the problem that the heat generated by the controller of the robot is large, and the heat is difficult to dissipate in time due to the sealing design requirement, so that the heat generated by the robot is serious, and the performance of the robot is seriously affected. Meanwhile, the motor of the robot can generate large heat in the moving process, if the heat enters the base, the temperature in the base can be greatly increased, and the control of the temperature in the base is difficult. At present, all common solutions are to add a heat dissipation block and a heat conduction pipe to accelerate heat conduction for heat dissipation, but the cost needs to be increased, the structure is complex, and the lightweight design of the robot is not facilitated.

In view of the above problems, it is necessary to develop a robot to solve the problem of how to improve heat dissipation and achieve a lightweight design of the robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot can reach the lightweight design when improving the heat-sinking capability.

To achieve the purpose, the utility model adopts the following technical proposal:

a robot, comprising:

a base;

the control assembly is arranged in the base;

the protective cover is arranged outside the base and is provided with a plurality of heat dissipation holes;

the drive assembly, drive assembly includes the motor, the motor set up in the safety cover, and with the control assembly electricity is connected.

Preferably, the driving assembly further comprises a speed reducer, the speed reducer is arranged in the base, the input end of the speed reducer is in transmission connection with the motor, and the output end of the speed reducer extends out of the base.

Preferably, the base includes the main part and is located the mount pad of main part bottom, be provided with first installation cavity in the main part, be provided with the second installation cavity in the mount pad, control assembly is located in the first installation cavity, the speed reducer is located in the second installation cavity, first installation cavity with the second installation cavity intercommunication.

Preferably, the main body is detachably connected with the mounting seat.

Preferably, still include thermal-insulated subassembly, thermal-insulated subassembly set up in the safety cover with between the base, the output shaft of motor passes thermal-insulated subassembly with the speed reducer transmission is connected.

Preferably, the insulation assembly comprises:

the first flange is provided with a first through hole and is in sealing connection with the base;

the second flange is provided with a second through hole, the second flange is arranged in the first through hole in a sealing mode, and an output shaft of the motor penetrates through the second through hole to be in transmission connection with the speed reducer.

Preferably, the first flange is fixed to the base through sealant bonding, or a first sealing ring is arranged between the first flange and the base, and the first flange is fixed to the second flange through sealant bonding, or a second sealing ring is arranged between the first flange and the second flange.

Preferably, the control assembly includes a driving integrated plate, the driving integrated plate includes a control module, a driving module and a first substrate, the control module and the driving module are disposed on the first substrate, the control module is electrically connected to the driving module, and the driving module is electrically connected to the driving assembly.

Preferably, the device further comprises an isolation device, wherein the isolation device is arranged between the driving module and the control module.

Preferably, an isolation slot is formed in the first substrate, and the isolation slot is located between the driving module and the control module.

Preferably, a plurality of isolation slots are arranged between the driving module and the control module;

or a plurality of partition plates are arranged in the isolation open groove.

Preferably, the control component includes a driving integrated board, the driving integrated board includes a first substrate and a second substrate, the first substrate is a control function board, the second substrate is a driving function board, the first substrate is electrically connected to the second substrate, and the second substrate is electrically connected to the driving component.

Preferably, the second substrate is disposed in an overlapping manner with the first substrate.

Preferably, the display device further comprises an isolation device disposed between the second substrate and the first substrate.

Preferably, the liquid crystal display device further comprises a heat insulation piece, wherein the heat insulation piece is arranged between the second substrate and the first substrate.

The utility model has the advantages that:

the utility model provides a robot. In this robot, the motor is separated with these two main parts that generate heat of control assembly, because control assembly has waterproof dirt-proof demand, so set up control assembly in the base, set up the motor in the outer safety cover of base, make the two keep apart, the heat that the motor produced just can pass through the louvre loss on the safety cover to the outside, has improved the heat-sinking capability of robot greatly, can enough not influence the heat dissipation of motor when sealing up the base. Meanwhile, the structure of a radiating block, a heat conducting pipe and the like is not needed, and the purpose of light weight design is achieved.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to a first embodiment of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

fig. 3 is a schematic view of a first structure of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 4 is a second structural schematic diagram of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a third driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 6 is a fourth structural schematic diagram of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a fifth structure of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 8 is a sixth structural schematic diagram of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 9 is a seventh structural schematic diagram of a driving and controlling integrated plate according to a sixth embodiment of the present invention;

fig. 10 is a schematic structural view of a driving and controlling integrated plate according to a seventh embodiment of the present invention;

fig. 11 is a schematic structural diagram of a driving and controlling integrated plate according to an eighth embodiment of the present invention;

fig. 12 is a schematic structural diagram of a driving and controlling integrated plate according to an eleventh embodiment of the present invention.

1. A base; 2. a protective cover; 3. a motor; 4. a speed reducer; 5. a first flange; 6. a second flange; 11. a main body; 12. a mounting seat; 61. a sealing groove;

110. a control module; 111. a first control section; 112. a second control section; 120. a drive module; 121. a first driving section; 122. a second driving section; 131. a first substrate; 132. a second substrate; 141. an isolation device; 142. separating and slotting; 150. a heat dissipating component; 151. a heat dissipation base plate; 152. a third heat radiation fin; 160. a first fan; 170. an I/O interface; 180. a low voltage power supply; 190. a high voltage power supply.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

First embodiment

The present embodiment provides a robot. As shown in fig. 1, the robot includes a base 1, a control unit, a protection cover 2, and a driving unit. The control assembly sets up in base 1, and safety cover 2 sets up in the outside of base 1, is provided with a plurality of louvres on the safety cover 2, and drive assembly includes motor 3, and motor 3 sets up in safety cover 2 to be connected with the control assembly electricity.

This robot keeps apart two heat sources of motor 3 and control assembly to set up motor 3 in the outer safety cover 2 of base 1, the heat that makes motor 3 produce can discharge through the louvre and can not get into base 1, has guaranteed that the temperature can not be too high in the base 1, makes control assembly work under a suitable temperature. With motor 3 setting outside base 1, because the heat-sinking capability is stronger, this robot need not set up extra radiating piece, like radiating block and heat pipe and fan, greatly reduced the cost, structural design is also easier.

In addition, through offering the louvre on protective cover 2, compare heat radiation structures such as heat pipe among the prior art, it is more convenient to maintain, only need with protective cover 2 with base 1 pull down wash can, the assembly is maintained more easily.

Because 3 rotational speeds of motor are too fast, in order to facilitate control, drive assembly still includes speed reducer 4, and the input of speed reducer 4 is connected with the transmission of motor 3, and the output of speed reducer 4 stretches out safety cover 2. Meanwhile, the speed reducer 4 can improve the torque while reducing the rotating speed, so that the grabbing mechanism can grab heavier objects, and the application range of the robot is widened.

Preferably, base 1 includes main part 11 and is located the mount pad 12 of main part 11 bottom, is provided with first installation cavity in the main part 11, is provided with the second installation cavity in the mount pad 12, and control assembly is located first installation cavity, and speed reducer 4 is located the second installation cavity, first installation cavity and second installation cavity intercommunication.

Set up the speed reduction subassembly in mount pad 12, be convenient for motor 3 in the safety cover 2 and being connected of speed reduction subassembly, safety cover 2 can make safety cover 2 be in base 1 below completely through the direction of being connected of adjustment and mount pad 12 simultaneously, avoids safety cover 2 because of setting up in the increase that leads to the horizontal size of robot in base 1 side.

Optionally, the protective cover 2 is fixedly connected with the base 1 through screws, so that the disassembly is convenient, and the maintenance of the motor 3 and the cleaning of the heat dissipation holes are facilitated.

Because the heat that the speed reducer 4 produced is very little, so keep apart through mount pad 12 of speed reducer 4 between base 1 and the safety cover 2 to make motor 3 keep away from base 1, the most heat that motor 3 produced does not pass to base 1 inside, but discharges through the louvre. In order to further organize the heat that motor 3 produced and get into base 1, this robot still includes thermal-insulated subassembly, and thermal-insulated subassembly sets up between safety cover 2 and base 1, and the output shaft of motor 3 passes thermal-insulated subassembly and is connected with speed reducer 4 transmission.

Preferably, as shown in fig. 2, the heat insulation assembly comprises a first flange 5 and a second flange 6, the first flange 5 is provided with a first through hole, and the first flange 5 is connected with the base 1 in a sealing manner. The second flange 6 is provided with a second through hole, the second flange 6 is hermetically arranged in the first through hole, and an output shaft of the motor 3 penetrates through the second through hole to be in transmission connection with the speed reducer 4. Can keep apart motor 3 and speed reducer 4 through first flange 5 and second flange 6, reduce the heat that motor 3 produced by a wide margin and pass to base 1 in through speed reducer 4 to make motor 3 reduce to the minimum to temperature influence in the environment in the base 1.

Because first flange 5 and second flange 6 hardness is great, have certain gap between the two easily to make thermal-insulated subassembly to the isolation of two cavities thoroughly inadequately, for solving this problem, it is fixed through sealed glue bonding between first flange 5 and the base 1 or be provided with first sealing washer between first flange 5 and the base 1, it is fixed through sealed glue bonding between first flange 5 and the second flange 6 or be provided with the second sealing washer between first flange 5 and the second flange 6.

When using the sealing washer to realize sealing connection, for avoiding first sealing washer and second sealing washer drunkenness to lead to sealed effect variation, all be provided with seal groove 61 on first flange 5 and the second flange 6 for fixed first sealing washer and second sealing washer.

Because of control assembly need control motor 3, control assembly need link to each other with motor 3 through the connecting wire, if trompil makes the connecting wire pass through on base 1, this can cause certain influence to base 1's leakproofness. In order to prevent the sealing performance of the base 1 from being damaged, a wire passing hole is formed in the heat insulation assembly, and a connecting wire of the motor 3 penetrates through the wire passing hole through a sealing joint to be connected with the control assembly. Sealing joint sets up in crossing the line downthehole, and the cladding is in the connecting wire outside through crossing the line hole, realizes sealed, guarantees that heat and dust can not get into mount pad 12 and then get into base 1 through the clearance of connecting wire and flange and cause the influence to control assembly. It will be appreciated that the wire passage holes may be provided in the first flange 5 as well as in the second flange 6.

Preferably, the sealing joint can be a PG joint, and the PG joint is locked in the wire passing hole and can play a role in water and dust prevention.

Preferably, the reducer 4 includes an annular gear, a planet carrier, a planet gear, and a sun gear. The inner gear ring is fixedly arranged in the base 1, the planet carrier is rotatably arranged in the base 1, the planet wheel is rotatably arranged on the planet carrier and meshed with the inner gear ring, the sun wheel is fixedly connected with an output shaft of the motor 3 and coaxially rotates, and the sun wheel is meshed with the planet wheel.

When the motor 3 drives the sun gear to rotate, the inner gear ring is fixed, the planet gear revolves around the sun gear while rotating, the planet carrier is driven to rotate, the planet carrier is the output end of the speed reducer 4 and is used for driving the driving arm to rotate, and when the motor 3 rotates, the rotating speed and the rotating angle of the driving arm can be calculated through calculation of the reduction ratio of the speed reducer 4. It can be understood that, in order to increase the reduction ratio, the speed reducers 4 may be provided in plurality, in two adjacent speed reducers 4, the planet carrier of one speed reducer 4 is connected with the sun gear of the other speed reducer 4, and the rotation speed of the driving arm can be greatly reduced through the transmission of the plurality of speed reducers 4.

Preferably, the planet carrier is rotatably provided with a plurality of planet wheels, and the plurality of planet wheels are uniformly arranged around the sun wheel at intervals. The multiple planet wheels can enable the stress of the planetary gear train in operation to be more balanced, and the planetary gear train can be kept stable while a larger transmission ratio is realized.

In other embodiments, the speed reducer 4 may also be a harmonic speed reducer, and includes a rotating shaft in transmission connection with the motor 3, a wave generator disposed on the rotating shaft, a flexible gear sleeved outside the wave generator, and a steel wheel capable of meshing with the flexible gear, where the steel wheel is fixedly disposed in the base 1. When the rotating shaft rotates, the wave generator is driven to rotate to generate periodic elastic deformation waves to deform the flexible gear, the extending part of the flexible gear is meshed with the inner ring of the steel gear, the rest part of the flexible gear is disengaged from the steel gear, the tooth pitches of the flexible gear and the steel gear are equal, the number of teeth is small, and the flexible gear and the steel gear rotate relatively to serve as output ends to output torque and rotating speed. The harmonic reducer has the advantages of high speed reduction ratio and high precision, can improve the rotating precision of the driving arm of the robot, can realize high speed reduction ratio by using smaller volume, and can greatly reduce the space occupied by the speed reducer 4.

The robot further comprises a grabbing component, the grabbing component is in transmission connection with a driving component, and the driving component can drive the grabbing component to grab articles.

The grabbing assembly comprises a driving arm, a driven arm, a movable platform and a sucker, one end of the driving arm is connected with the output end of the driving assembly and can rotate around the output end under the driving of the output end of the driving assembly, and the axis of the driving arm is perpendicular to the axis of the output end of the driving assembly. The one end of driven arm is articulated with the one end that the drive assembly was kept away from to the master arm, and the other end of driven arm is articulated with moving the platform, and the sucking disc setting is on moving the platform, and drive assembly moves the platform through master arm and slave arm drive and moves to treating on the article that snatchs, opens the sucking disc and adsorbs article. It will be appreciated that the suction cups may be replaced by clips for gripping the articles.

In order to increase the moving range and accuracy of the movable platform, a plurality of groups of driving arms and driven arms are arranged, and a plurality of driven arms are hinged with the movable platform and used for improving the degree of freedom of the movable platform.

Second embodiment

The embodiment provides a robot, and on the basis of the first embodiment, a first heat radiation fin is arranged on the outer wall of a protection cover 2. Through setting up first radiating fin, can increase the effective heat radiating area of safety cover 2 to the heat that motor 3 produced can disperse fast, improves the radiating effect.

Specifically, the first heat radiation fin may be made of an aluminum alloy. The aluminum alloy has excellent thermal conductivity and corrosion resistance, and can prolong the service life of the protective cover 2 on the basis of improving the heat dissipation effect.

Alternatively, the first heat dissipation fins may be provided in plurality and disposed at intervals on the outer wall of the protective cover 2 to improve the heat dissipation effect.

In order to avoid the influence of the first radiating fins on the discharge of hot air from the radiating holes, the positions, corresponding to the radiating holes, of the first radiating fins are provided with flow guide grooves, and the flow guide grooves can guide the hot air discharged from the radiating holes to flow to the free ends (namely, the ends far away from the protective cover 2) of the first radiating fins, so that the smooth discharge of the hot air is ensured.

Optionally, the outer wall of the base 1 may be provided with a second heat dissipation fin to increase the heat dissipation area of the base 1, so as to improve the heat dissipation effect of the control assembly. The structure, number and arrangement of the second heat dissipation fins may be the same as those of the first heat dissipation fins, and will not be described in detail here.

Third embodiment

The present embodiment provides a robot, on the basis of the first embodiment and the second embodiment, a support member is provided in the protective cover 2, one end of the support member abuts against or is connected to the motor 3, and the other end abuts against or is connected to the protective cover 2. By arranging the supporting piece, on one hand, the supporting position of the motor 3 can be increased, the stability of the motor 3 in the protective cover 2 is improved, and the motor 3 is prevented from shaking; on the other hand can also pass through the heat-conduction transmission of support piece with the heat that motor 3 produced to safety cover 2 departments, compares the direct mode through the heat radiation of heat and gives off, and the radiating efficiency is high, and the radiating effect is good.

Further, the support member may be made of a heat conductive material to improve a heat conductive effect of the support member. For example, the support may be made of an aluminum alloy material.

Optionally, a heat conducting layer may be disposed between the supporting member and the motor 3 and between the supporting member and the protective cover 2, and the heat conducting layer has certain elasticity, so that on one hand, the supporting member is prevented from being in rigid contact with the motor 3 and the protective cover 2, and thus the supporting member, the motor 3 and the protective cover 2 are prevented from deforming; on the other hand can also improve the contact effect of support piece and motor 3 and safety cover 2, through the elastic deformation of heat-conducting layer, the surface of adaptation motor 3 and safety cover 2 to guarantee good contact, and then improve the radiating effect.

Alternatively, the heat conducting layer may be made of a heat conducting silicone.

In some embodiments, the supporting member may be a ring-shaped structure, which is sleeved outside the motor 3 to better manufacture the motor 3.

In some embodiments, the support member may be provided in plurality, and the plurality of support members may be provided at regular intervals around the circumference of the motor 3 to support the motor 3.

Fourth embodiment

This embodiment provides a robot, on the basis of first embodiment, second embodiment and third embodiment, has increased and has carried out radiating structure to control assembly to on guaranteeing the sealed dustproof and waterproof basis of base 1, improve control assembly's radiating effect.

The existing robot has no sealing requirement on the base 1, so that the heat dissipation of the control assembly is not optimized, the heat generated by the control assembly cannot be rapidly discharged out of the base 1, and the working state and the service life are influenced. Specifically, a heat pipe is disposed in the susceptor 1, one end of the heat pipe is connected to the control component, and the other end of the heat pipe is connected to the main body 11 or the mounting seat 12 of the susceptor 1.

The heat pipe is a hollow through pipe with one closed end, cooling liquid is contained in the hollow through pipe, the cooling liquid is heated and gasified at one end connected with the control assembly, the cooling liquid flows to one end connected with the base 1 under the small pressure difference and is condensed into liquid, a large amount of heat is emitted at the same time, and the circulation is not enough, so that the heat of the control assembly is rapidly transmitted to the surface of the base 1 and is dissipated into the air through the second heat dissipation fins. The heat conduction pipe has a high cooling effect and a thermal conductivity 200 times that of copper.

Fifth embodiment

The present embodiment provides a robot, which is different from the above embodiments in that the main body 11 and the mounting base 12 in the base 1 are of a split structure, and the main body 11 is detachably connected with the mounting base 12. Through with main part 11 and mount pad 12, can improve drive assembly's modularization degree, drive assembly can be with mount pad 12 and safety cover 2 assembly be integrative back with main part 11 assembly, be favorable to reducing the assembly degree of difficulty.

In addition, the speed reducer 4, the motor 3 or the main body 11 can be maintained and replaced independently, and the operation is more convenient.

Optionally, the main body 11 and the mounting seat 12 can be fastened by screws, and have the advantages of low cost, reliable fixation, convenient assembly and disassembly, and the like.

In some embodiments, the mounting 12 and the protective cover 2 may be horizontally aligned as shown in fig. 1.

In some embodiments, the mounting seat 12 and the protection cover 2 may be arranged up and down, that is, the protection cover 2 is located at the bottom of the mounting seat 12, and the output shaft of the motor 3 may be vertically arranged.

In some embodiments, the output shaft of the motor 3 and/or the output shaft of the speed reducer 4 may be disposed obliquely to the vertical direction or the horizontal direction to meet different design requirements.

Sixth embodiment

This embodiment provides a robot, and the control assembly of the robot is improved on the basis of the first to fifth embodiments. The control assembly includes a driving and controlling integrated board, as shown in fig. 3, the driving and controlling integrated board includes a control module 110, a driving module 120 and a first substrate 131, the control module 110 and the driving module 120 are disposed on the first substrate 131, the control module 110 is electrically connected to the driving module 120, and the driving module 120 is electrically connected to the driving assembly.

In the prior art, the controller and the driver are separated from each other and need to be installed respectively, the occupied space is large, more installation auxiliary materials are consumed, the signal transmission connection is complex, and in addition, the split design is difficult to meet the use requirement of a narrow space.

In this embodiment, the control module 110 and the driving module 120 are disposed on the same substrate, so that the overall structure of the control module 110 and the driving module 120 is more compact, and the miniaturization of the application device is facilitated.

In the embodiment, the control module 110 is attached to the first substrate 131, and the driving module 120 is disposed in parallel with the control module 110 and attached to the first substrate 131. In other embodiments, the following design is also possible: the control module 110 is attached to the first substrate 131, and the driving module 120 is attached to a side of the control module 110 away from the first substrate 131; alternatively, the driving module 120 is attached to the first substrate 131, and the control module 110 is attached to a side of the driving module 120 away from the first substrate 131.

Optionally, as shown in fig. 4, the driving and controlling integrated board further includes an isolation device 141, and the isolation device 141 is disposed between the driving module 120 and the control module 110. Specifically, the isolation device 141 is used to isolate the driving module 120 from the control module 110, so as to avoid interference between strong current and weak current, and further improve the respective operational reliability of the driving module 120 and the control module 110. Further, the isolation device 141 is disposed on the first substrate 131. In other embodiments, the isolation device 141 may also encase the drive module 120 and/or the control module 110.

Optionally, the isolation device 141 is one or a combination of two or more of a magnetic coupler, an optical coupler, and a capacitive isolator.

Optionally, the driving module 120 is disposed near an edge of one end of the first substrate 131, and the control module 110 is disposed near an edge of the other end of the first substrate 131. Specifically, by disposing the driving module 120 and the control module 110 at two relatively far ends, interference between the two is facilitated to be reduced.

Optionally, the control module 110 and the driving module 120 are disposed on the same side of the first substrate 131. Of course, in other embodiments, the following design is also possible: the control module 110 is disposed on the first surface of the first substrate 131, and the driving module 120 is disposed on the second surface of the first substrate 131, as shown in fig. 5; alternatively, the control module 110 includes a first control portion 111 and a second control portion 112, the first control portion 111 is disposed on the first surface of the first substrate 131, and the second control portion 112 and the driving module 120 are disposed on the second surface of the first substrate 131, as shown in fig. 6, further, the first control portion 111 is electrically connected to the second control portion 112, and the first control portion 111 and/or the second control portion 112 is electrically connected to the driving module 120; alternatively, the driving module 120 includes a first driving portion 121 and a second driving portion 122, the first driving portion 121 is disposed on the first surface of the first substrate 131, and the second driving portion 122 and the control module 110 are disposed on the second surface of the first substrate 131, as shown in fig. 7, further, the first driving portion 121 is electrically connected to the second driving portion 122, and the first driving portion 121 and/or the second driving portion 122 is electrically connected to the control module 110. Specifically, the control module 110 and the driving module 120 serve as heat sources, the control module 110 is divided into two parts or the driving module 120 is divided into two parts, so that the heat sources are more dispersed, overheating at local positions is avoided, and the working reliability of the driving and controlling integrated plate is effectively improved.

Optionally, the driving module 120 can be directly connected to an external strong power source to improve the flexibility of connection and use of the driving and controlling integrated board.

Optionally, the driving and controlling integrated board further includes at least one heat dissipation assembly 150, and the heat dissipation assembly 150 is disposed on the first substrate 131. Specifically, the heat dissipation assembly 150 can dissipate heat of the control module 110 and the driving module 120, so as to ensure the operational reliability of the control module 110 and the driving module 120 and prolong the service life thereof.

Optionally, the heat sink assembly 150 includes a heat sink base plate 151 and a plurality of third heat sink fins 152, the heat sink base plate 151 is mounted on the first substrate 131, and the third heat sink fins 152 are mounted on the heat sink base plate 151. Further, as shown in fig. 8, the heat dissipation base plate 151 and the third heat dissipation fins 152 are disposed between the driving module 120 and the control module 110, or the heat dissipation base plate 151 is designed to abut against the driving module 120 and/or the control module 110, and the heat dissipation base plate 151 is connected to the control module 110 and/or the driving module 120 through the heat conductive silicone, so as to improve the heat dissipation effect, as shown in fig. 9.

Optionally, the heat dissipation assembly 150 further includes a first fan 160, and the first fan 160 is installed at one side of the third heat dissipation fin 152 and can drive the air flow in the region of the third heat dissipation fin 152.

Optionally, the heat dissipation assembly 150 includes a second fan disposed at the edge of the first substrate 131. Particularly, the second fan is arranged at the edge, so that the overall design difficulty and the manufacturing process of the driving and controlling integrated plate can be simplified, and the popularization and the application of the driving and controlling integrated plate are facilitated.

Optionally, the driving and controlling integrated board further includes a safety circuit module, the safety circuit module is disposed on the first substrate 131, and the safety circuit module is electrically connected to the control module 110 and/or the driving module 120. Specifically, by providing the safety circuit module, the operational reliability of the control module 110 and/or the driving module 120 can be improved. Further, on the premise that the first communication module is arranged, the safety circuit module is electrically connected with the first communication module.

Optionally, the driving and controlling integrated board further includes a heat insulation member, and the heat insulation member is disposed between the driving module 120 and the control module 110. Specifically, the thermal insulation member can reduce the heat transfer between the driving module 120 and the control module 110, thereby ensuring the reliability of independent operation of the driving module and the control module.

Optionally, the thermal insulation member is a hollow structural member.

Optionally, the thermal shield is the same structural member as the isolation device 141.

Seventh embodiment

The present embodiment is different from the sixth embodiment in that the isolation device 141 in the first embodiment is replaced with the following design:

as shown in fig. 10, the first substrate 131 has an isolation slot 142 formed therein, and the isolation slot 142 is located between the driving module 120 and the control module 110. Specifically, the isolation slot 142 forms an air isolation between the driving module 120 and the control module 110, so that the interference signal is switched and transmitted between two different media, i.e., solid and gas, and the interference signal is blocked, thereby helping to reduce the mutual interference between the driving module 120 and the control module 110.

Optionally, a plurality of isolation slots 142 are disposed between the driving module 120 and the control module 110, and all the isolation slots 142 are disposed in parallel; or, a plurality of partition plates are arranged in the isolation slot 142, and all the partition plates are arranged in parallel. Particularly, through setting up many isolation flutings 142 or polylith space bars, can make interference signal switch repeatedly between solid and gaseous medium many times, and then improve the separation effect to interference signal.

Alternatively, the thermal insulation member in the first embodiment may be disposed in the insulation slot 142.

Eighth embodiment

The present embodiment is different from the sixth embodiment or the seventh embodiment in that:

as shown in fig. 11, the driving and controlling integrated board further includes an I/O interface 170, a low voltage power supply 180, and a high voltage power supply 190 disposed on the first substrate 131, and the control module 110, the I/O interface 170, the low voltage power supply 180, the high voltage power supply 190, and the driving module 120 are sequentially disposed adjacent to each other. Specifically, by arranging the control module 110, the I/O interface 170, the low-voltage power supply 180, the high-voltage power supply 190 and the driving module 120 adjacent to each other in sequence, on one hand, the connection distance between the control module 110 and the I/O interface 170 can be shortened, on the other hand, the space between the control module 110 and the driving module 120 can be fully utilized, the low-voltage power supply 180 is made to be close to the control module 110, and the high-voltage power supply 190 is made to be close to the driving module 120, so that the control module 110 and the driving module 120 can be more efficiently and reliably powered. Of course, in other embodiments, the following design is also possible: the I/O interface 170 is disposed on a side of the control module 110 away from the driving module 120; alternatively, the I/O interface 170 is disposed on a side of the low voltage power supply 180 close to the driving module 120.

Optionally, the isolation device 141 or the isolation trench 142 is located between the low voltage power supply 180 and the high voltage power supply 190.

Optionally, the driving and controlling integrated board further includes two heat dissipation assemblies 150, the heat dissipation assemblies 150 are disposed on the first substrate 131, one of the heat dissipation assemblies 150 is located on a side of the control module 110 away from the driving module 120, and the other heat dissipation assembly 150 is located on a side of the driving module 120 away from the control module 110. Specifically, the heat dissipation assembly 150 is disposed at the outer sides of the two ends and is disposed adjacent to the control module 110 and the driving module 120, respectively, so as to improve the heat dissipation effect.

Ninth embodiment

The present embodiment is different from the sixth embodiment or the seventh embodiment or the eighth embodiment in that:

the driving and controlling integrated board further includes a first communication module disposed on the first substrate 131, and the first communication module is electrically connected to the control module 110 and/or the driving module 120. Particularly, through setting up first communication module, can realize control module 110 and external equipment's remote connection, and then improve this use flexibility and application scope who drives accuse intergral template.

Optionally, the first communication module is disposed on the first surface or the second surface of the first substrate 131.

Optionally, the first communication module is located between the control module 110 and the driving module 120. Further, the first communication module is disposed adjacent to the control module 110.

Optionally, the first communication module is located between the low voltage power supply 180 and the high voltage power supply 190.

Optionally, the first communication module is located on one side of the isolation device 141 or the isolation slot 142 close to the control module 110.

Optionally, the first communication module is connected to a network bus.

Optionally, the driving module 120 is attached to the first substrate 131, the first communication module is attached to a side of the driving module 120 away from the first substrate 131, and the control module 110 is attached to a side of the first communication module away from the first substrate 131.

Optionally, the driving and controlling integrated board further includes a heat dissipation assembly 150, and the heat dissipation assembly 150 is disposed on the first substrate 131. Specifically, the heat dissipation assembly 150 can dissipate heat of the control module 110 and the driving module 120, so as to ensure the operational reliability of the control module 110 and the driving module 120 and prolong the service life thereof.

Optionally, the heat sink assembly 150 includes a heat sink base plate 151 and a plurality of third heat sink fins 152, the heat sink base plate 151 is mounted on the first substrate 131, and the third heat sink fins 152 are mounted on the heat sink base plate 151. Further, the heat dissipation base plate 151 and the third heat dissipation fins 152 are disposed between the driving module 120 and the control module 110, or the heat dissipation base plate 151 is abutted to the driving module 120 and/or the control module 110 and/or the first communication module, and the heat dissipation base plate 151 is connected to the control module 110 and/or the driving module 120 and/or the first communication module through the heat conductive silica gel, so that the heat dissipation effect can be improved.

Tenth embodiment

The present embodiment is different from the sixth embodiment or the seventh embodiment in that:

the driving and controlling integrated board further comprises an I/O interface 170, a low voltage power supply 180 and a high voltage power supply 190 which are arranged on the first substrate 131, the control module 110 and the driving module 120 are arranged on the first substrate 131 in parallel, the I/O interface 170 is installed on one side of the control module 110, which is far away from the first substrate 131, the low voltage power supply 180 is installed on one side of the I/O interface 170, which is far away from the first substrate 131, and the high voltage power supply 190 is installed on one side of the driving module 120, which is far away from the first substrate 131. Specifically, by arranging the control module 110, the I/O interface 170, and the low voltage power supply 180 adjacent to each other, the connection distance between the control module 110 and the I/O interface 170 can be shortened, and the low voltage power supply 180 is brought close to the control module 110, and the high voltage power supply 190 is brought close to the driving module 120, so that the control module 110 and the driving module 120 can be supplied with power more efficiently and reliably.

Optionally, the driving and controlling integrated board further includes two heat dissipation assemblies 150, the heat dissipation assemblies 150 are disposed on the first substrate 131, one of the heat dissipation assemblies 150 is located on a side of the control module 110 away from the driving module 120, and the other heat dissipation assembly 150 is located on a side of the driving module 120 away from the control module 110. Specifically, the heat dissipation assembly 150 is disposed at the outer sides of the two ends and is disposed adjacent to the control module 110 and the driving module 120, respectively, so as to improve the heat dissipation effect.

Eleventh embodiment

This embodiment provides a robot, and on the basis of the first to fifth embodiments, the control assembly of the robot includes a control integrated board, as shown in fig. 12, including a first substrate 131 and a second substrate 132 integrally provided, the first substrate 131 is a control function board, the second substrate 132 is a drive function board, and the first substrate 131 is electrically connected to the second substrate 132.

Optionally, the second substrate 132 is stacked on the first substrate 131. Further, the second substrate 132 is attached to the first substrate 131 and connected by daisy chain.

Optionally, the driving and controlling integrated board further includes an isolation device 141, and the isolation device 141 is disposed between the second substrate 132 and the first substrate 131. Specifically, the isolation device 141 is used to isolate the first substrate 131 from the second substrate 132, so as to avoid interference between strong current and weak current, thereby improving the respective operational reliability of the first substrate 131 and the second substrate 132.

Optionally, the driving and controlling integrated board further includes a low voltage power supply 180 and a high voltage power supply 190, and the first substrate 131, the low voltage power supply 180, the high voltage power supply 190 and the second substrate 132 are sequentially and adjacently disposed, or the first substrate 131, the low voltage power supply 180, the second substrate 132 and the high voltage power supply 190 are sequentially and adjacently disposed. Further, the driving and controlling integrated board further includes an I/O interface 170, and the I/O interface 170 is electrically connected to the first substrate 131. The I/O interface 170 is disposed on a side of the first substrate 131 away from the second substrate 132; alternatively, the I/O interface 170 is disposed on a side of the first substrate 131 close to the second substrate 132; alternatively, the I/O interface 170 is disposed on a side of the low voltage power supply 180 close to the second substrate 132.

Optionally, the second substrate 132 is connected to an external strong power source.

Optionally, the driving and controlling integrated board further includes a communication module, and the communication module is electrically connected to the first substrate 131 and/or the second substrate 132. The communication module is connected with the network bus.

Optionally, the driving and controlling integrated board further includes at least one heat dissipation assembly 150 for dissipating heat from the first substrate 131 and/or the second substrate 132.

Optionally, the number of the heat dissipation assemblies 150 of the driving and controlling integrated plate is two, wherein one heat dissipation assembly 150 is located on one side of the first substrate 131 far away from the second substrate 132, and the other heat dissipation assembly 150 is located on one side of the second substrate 132 far away from the first substrate 131.

Optionally, the number of the heat dissipation assemblies 150 of the driving and controlling integrated plate is one, and the heat dissipation assemblies 150 are disposed between the second substrate 132 and the first substrate 131; alternatively, the heat sink assembly 150 abuts the first substrate 131; alternatively, the heat sink assembly 150 abuts the second substrate 132.

Optionally, the heat dissipation assembly 150 includes a heat dissipation base plate 151 and a plurality of third heat dissipation fins 152, the heat dissipation base plate 151 is mounted on one of the second substrate 132 and the first substrate 131, the third heat dissipation fins 152 are mounted on the heat dissipation base plate 151, and the other of the second substrate 132 and the first substrate 131 is attached to the third heat dissipation fins 152.

Optionally, the heat dissipation base plate 151 is connected to the first substrate 131 or the second substrate 132 through a heat conductive silicone.

Optionally, the heat dissipation assembly 150 further includes a heat dissipation fan, which is installed at one side of the third heat dissipation fin 152 and is capable of driving the air in the region of the third heat dissipation fin 152 to flow.

Optionally, the driving and controlling integrated board further includes a heat insulation member, and the heat insulation member is disposed between the second substrate 132 and the first substrate 131.

Optionally, the number of the first substrates 131 is equal to the number of the second substrates 132, and the first substrates 131 are electrically connected to the second substrates 132 in a one-to-one correspondence; alternatively, the number of the first substrates 131 is smaller than the number of the second substrates 132, and at least one first substrate 131 is electrically connected to more than two second substrates 132.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims (16)

1. A robot, comprising:

a base (1);

the control assembly is arranged in the base (1);

the protective cover (2) is arranged outside the base (1), and a plurality of heat dissipation holes are formed in the protective cover (2);

the drive assembly comprises a motor (3), wherein the motor (3) is arranged in the protective cover (2) and is electrically connected with the control assembly.

2. The robot according to claim 1, characterized in that the driving assembly further comprises a speed reducer (4), the speed reducer (4) is arranged in the base (1), an input end of the speed reducer (4) is in transmission connection with the motor (3), and an output end of the speed reducer (4) extends out of the base (1).

3. The robot according to claim 2, wherein the base (1) comprises a main body (11) and a mounting seat (12) located at the bottom of the main body (11), a first mounting cavity is arranged in the main body (11), a second mounting cavity is arranged in the mounting seat (12), the control component is located in the first mounting cavity, the speed reducer (4) is located in the second mounting cavity, and the first mounting cavity is communicated with the second mounting cavity.

4. Robot according to claim 3, characterized in that the body (11) is detachably connected with the mounting (12).

5. The robot according to claim 2, characterized by further comprising a heat insulation assembly, wherein the heat insulation assembly is arranged between the protective cover (2) and the base (1), and an output shaft of the motor (3) is in transmission connection with the speed reducer (4) through the heat insulation assembly.

6. The robot of claim 5, wherein the thermal shield assembly comprises:

the first flange (5), the first flange (5) is provided with a first through hole, and the first flange (5) is connected with the base (1) in a sealing mode;

the second flange (6), the second flange (6) is provided with the second through-hole, the second flange (6) seal set up in the first through-hole, the output shaft of motor (3) passes the second through-hole with speed reducer (4) transmission is connected.

7. The robot according to claim 6, characterized in that the first flange (5) is fixed to the base (1) by a sealant or a first sealing ring is arranged between the first flange (5) and the base (1), the first flange (5) is fixed to the second flange (6) by a sealant or a second sealing ring is arranged between the first flange (5) and the second flange (6).

8. The robot as claimed in claim 5, characterized in that a wire through hole is arranged on the heat insulation assembly, and a connection wire of the motor (3) passes through the wire through hole through a sealed joint to be connected with the control assembly.

9. Robot according to any of the claims 1-8, characterized in that the control assembly comprises a drive integrated board comprising a control module (110), a drive module (120) and a first base plate (131), the control module (110) and the drive module (120) being provided on the first base plate (131), the control module (110) being electrically connected to the drive module (120), the drive module (120) being electrically connected to the drive assembly.

10. The robot according to claim 9, further comprising an isolation device (141), the isolation device (141) being arranged between the drive module (120) and the control module (110).

11. The robot of claim 9, wherein: an isolation slot (142) is formed in the first substrate (131), and the isolation slot (142) is located between the driving module (120) and the control module (110).

12. The robot according to claim 11, characterized in that a plurality of said isolation slots (142) are provided between said drive module (120) and said control module (110);

or a plurality of partition plates are arranged in the isolation open groove (142).

13. Robot according to any of the claims 1-8, characterized in that the control assembly comprises a driver integrated board comprising an integrated first base board (131) and a second base board (132), the first base board (131) being a control function board and the second base board (132) being a driver function board, the first base board (131) being electrically connected to the second base board (132) and the second base board (132) being electrically connected to the drive assembly.

14. A robot according to claim 13, characterized in that the second substrate (132) is arranged in superposition with the first substrate (131).

15. The robot according to claim 13, further comprising an isolation device (141), the isolation device (141) being arranged between the second substrate (132) and the first substrate (131).

16. The robot according to claim 13, further comprising a thermal insulation disposed between the second substrate (132) and the first substrate (131).

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