CN218313608U

CN218313608U - Robot joint module

Info

Publication number: CN218313608U
Application number: CN202222627386.1U
Authority: CN
Inventors: 柳建雄; 何志雄; 吴志诚; 郑滨
Original assignee: Guangdong Tiantai Robot Co Ltd
Current assignee: Guangdong Tiantai Robot Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-01-17
Anticipated expiration: 2032-09-30

Abstract

The utility model relates to a robot joint module, include: the shell assembly is provided with an installation cavity and a plurality of radiating ports, and the plurality of radiating ports are communicated with the installation cavity; the driving motor is positioned in the mounting cavity; the heat dissipation assembly is positioned in the installation cavity, the output end of the driving motor is sleeved on the outer side of the heat dissipation assembly, the heat dissipation assembly is communicated with the heat dissipation port, and the driving motor drives the heat dissipation assembly to rotate to generate wind power; the heat dissipation assembly is sleeved on the transmission assembly and used for driving the transmission assembly to move; a drive shaft to which an output end of the transmission assembly is connected. The utility model discloses robot joint module through built-in radiator unit, radiator unit is high-speed rotatory production wind-force under driving motor's drive to order about the heat and dispel from the thermovent fast, guarantee the stability of joint module.

Description

Robot joint module

Technical Field

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

Background

With the rapid development of industrial automation technology, robots are increasingly widely used as important industrial automation equipment. With the use of a large number of robots, the problem of heat dissipation of power joints is also emphasized. The power joint of the robot mainly comprises a motor, a speed reducer and a joint component, wherein the motor and the speed reducer are installed in the hollow joint component, the power joint is powered on and rotates by the motor to provide a power source, the motor and the speed reducer are connected and driven through a transmission shaft, the rotating speed is reduced after the speed reducer is converted, so that the output torque is improved, the motor and the speed reducer are main heat generating areas of the power joint, and generated heat needs to be transmitted and dissipated to the outside of the power joint through the joint component. The overheating of the power joint directly affects the service quality and the service cycle of the robot, and as the demand of the robot on the power joint with continuous large torque, high explosive force and high overload capacity is continuously improved, the load of the power joint is increased, and the problem of heat dissipation of the power joint is more urgent.

The existing power joint mostly adopts a joint component without a heat dissipation structure, the heat dissipation is carried out by basically depending on the heat conduction of a self metal material, the heat dissipation effect is general, and the power joint is only suitable for general application working conditions with low requirements and cannot meet the working condition requirements of continuous large-torque output or high-explosion overload and the like. In addition, the existing partial power joint solves the heat dissipation problem of the power joint by adding a heat dissipation fan assembly or adopting a liquid cooling mode, wherein the liquid cooling mode is generally to add a liquid flow channel in the power joint, the heat of the power joint is taken away through the circulating flow of liquid, the liquid flow channel needs to be connected to an external liquid cooling device to realize the circulating flow of the liquid, the heat dissipation efficiency of the liquid cooling mode is superior to that of the joint without a heat dissipation structure, but a large external heat dissipation circulating device is often needed, the power joint is large in size and not beneficial to installation, and the structural characteristics of compact, precise and rapid movement of a robot are difficult to meet requirements.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a robot joint module, which has a highly integrated heat dissipation component to improve the heat dissipation capability of the robot joint module, and the heat dissipation component has a fine structure to meet the requirements of weight reduction and compactness of the robot.

A robotic joint module, comprising: the shell assembly is provided with an installation cavity and a plurality of radiating ports, and the plurality of radiating ports are communicated with the installation cavity; the driving motor is arranged on the shell assembly and is positioned in the mounting cavity; the heat dissipation assembly is positioned in the installation cavity, the output end of the driving motor is sleeved on the outer side of the heat dissipation assembly, the heat dissipation assembly is communicated with the heat dissipation port, and the driving motor drives the heat dissipation assembly to rotate to generate wind power; the heat dissipation assembly is sleeved on the transmission assembly and used for driving the transmission assembly to move; a drive shaft, an output end of the transmission assembly being connected with the drive shaft.

The application discloses robot joint module, through the built-in high integrated radiator unit in joint module, radiator unit is high-speed rotatory production wind-force under driving motor's drive, thereby it flows to drive air all around, order about the heat that joint module work produced and dispel from a plurality of thermovents that casing subassembly set up fast, thereby the motor has been strengthened, the heat-sinking capability between reduction gear and the joint component, transient state temperature rise under the motor peak value state has been reduced, the bearing capacity of motor has been improved, the stability of joint module has been guaranteed, and this joint module need not to install other heat abstractor additional, consequently also reduced the volume of joint module under the prerequisite that satisfies the heat dissipation demand, satisfy the robot weight, when the compactification requirement, manufacturing cost has also been reduced.

In one embodiment, the heat dissipation assembly includes a first heat dissipation member, the first heat dissipation member includes a first heat dissipation body and a plurality of first blades, an output end of the driving motor is sleeved on a peripheral wall of one end of the first heat dissipation body, the plurality of first blades are arranged on a peripheral wall of the other end of the first heat dissipation body at intervals, and the first blades are arranged opposite to the first heat dissipation opening of the housing assembly. The first heat dissipation part is composed of a first heat dissipation body and a plurality of first blades, the first blades are distributed on the side wall of the first heat dissipation body at intervals, and when the driving motor works, the first heat dissipation part is driven to rotate at a high speed to generate an air source, so that the air flow around is accelerated, and the heat of the joint module is quickly dissipated.

In one embodiment, the first heat dissipation body is provided with a heat dissipation groove, the heat dissipation groove is arranged adjacent to the peripheral wall of the first heat dissipation body, and the heat dissipation groove is communicated with the heat dissipation port. Through the setting of radiating groove for the area of contact of the perisporium increase of first heat dissipation body and air, thereby when the heat that driving motor produced conducted to first heat dissipation part through the perisporium of first heat dissipation body, the heat can be taken away more fast to the air, improves the heat-sinking capability of first heat dissipation body.

In one embodiment, the first heat dissipating body and the plurality of first fins are integrally formed. First heat dissipation body and a plurality of first blades adopt integrated into one piece's structure, need not independent processing equipment once more for production is simpler, improves production efficiency, and in addition, through the above-mentioned result, first heat sink will be more stable when high-speed rotating.

In one embodiment, the heat dissipation assembly further includes a second heat dissipation member, the second heat dissipation member includes a second heat dissipation body and a plurality of second blades, the second heat dissipation body is coaxially disposed on a side of the first heat dissipation body away from the first blades, the plurality of second blades are disposed on a peripheral wall of the second heat dissipation body at intervals, and the second blades are disposed opposite to the second heat dissipation opening of the housing assembly. Through set up the second radiating piece on first radiating piece, the second radiating piece comprises second heat dissipation body and a plurality of second blade, a plurality of second blade interval distribution are on the lateral wall of second heat dissipation body, when driving motor during operation, first radiating piece will drive the high-speed rotatory wind regime that produces of second radiating piece, through set up first radiating piece and second radiating piece respectively in driving motor's both sides, the second radiating piece sets up with the drive plate is adjacent, make the abundant quick flow of air in the joint module, cool off the joint module through the air current.

In one embodiment, the second heat dissipation member further includes a boss, the boss is disposed on the second heat dissipation body, and an installation groove matched with the boss is disposed on one side of the first heat dissipation body away from the first blade. Through set up the mounting groove on first heat dissipation body, can make second heat dissipation body pass through the boss adaptation and install on first heat dissipation piece, when first heat dissipation piece rotated, drive the synchronous stable rotation of second heat dissipation piece and produce the wind regime, in addition through the cooperation of boss and mounting groove, be favorable to reducing the whole length of robot joint module.

In one embodiment, the heat dissipation assembly further comprises an encoder assembly, the encoder assembly is arranged in the installation cavity and comprises a motor encoder and a speed reducer encoder, part of the motor encoder is connected with one end of the heat dissipation assembly, and part of the speed reducer encoder is connected with one end of the driving shaft. The motor encoder is used for detecting the rotation state of the second heat dissipation part, and the speed reducer encoder is used for detecting the rotation state of the driving shaft. The driving motor drives the first heat dissipation part and the second heat dissipation part to synchronously rotate, so that the rotation state of the output end of the driving motor can be judged by detecting the rotation of the second heat dissipation part. The drive shaft is connected with the output end of the transmission assembly, the output end of the transmission assembly is the output end of the harmonic speed reduction assembly, and the rotation state of the output end of the harmonic speed reduction assembly is judged by detecting the rotation of the drive shaft. Compared with a single absolute value encoder, the double encoders are arranged, so that the zero position of the output shaft of the motor can be obtained when the motor starts, and the zero position of the encoder is not lost due to the fact that the battery is not electrified, so that the space of the encoder externally connected with the battery can be saved, and the occupied space of the joint module is reduced; compared with a single incremental encoder, the double encoders can acquire the zero position of the output end of the motor when the motor starts, an external zero switch is not needed, and the action step of finding the zero point by a switch servo system is omitted.

In one embodiment, the motor encoder comprises a motor encoding PCB and a first encoding magnet, the first encoding magnet is arranged on one side, away from the first heat dissipation member, of the second heat dissipation body, the motor encoding PCB is arranged opposite to the first encoding magnet, and the second heat dissipation body, the first encoding magnet and the first heat dissipation member rotate synchronously; the speed reducer encoder comprises a speed reducer encoding PCB and a second encoding magnet, the second encoding magnet is arranged on the driving shaft through a fixing piece, the fixing piece is coaxially sleeved on the driving shaft and is close to one end of the second heat dissipation piece, the second encoding magnet is arranged on the fixing piece, the fixing piece is far away from one side of the first heat dissipation piece, the speed reducer encoding PCB is opposite to the second encoding magnet, and the fixing piece is synchronous to rotate with the driving shaft. The first coding magnet is coaxially arranged on the second heat dissipation part through the second heat dissipation body, the first coding magnet and the second heat dissipation part synchronously rotate, and the motor coding PCB converts the angular displacement of the first coding magnet into an electric signal. The second coding magnet is coaxially arranged on the driving shaft through the fixing piece, the second coding magnet and the driving shaft synchronously rotate, and the speed reducer coding PCB is converted into an electric signal according to the angular displacement of the second coding magnet. Through the cooperation of motor encoder and speed reducer encoder, when restarting after the outage, according to the absolute position of drive shaft and the reduction ratio of speed reducer to can confirm the zero position of motor output. In addition, motor code PCB and speed reducer code PCB pass through the casing subassembly to be fixed respectively in the top of first code magnet and second code magnet, realize that code PCB is external to conveniently install, change and maintain the encoder subassembly, and avoid the encoder subassembly to hinder radiator unit and drive shaft rotation.

In one embodiment, the second heat dissipation element is provided with a second avoidance hole, the fixing element is at least partially located in the second avoidance hole, and the diameter of the second avoidance hole is larger than the radial length of the speed reducer encoder. The hole is dodged through setting up the second, sets up motor encoder in the outside of speed reducer encoder for motor encoder and speed reducer encoder are in same horizontal plane, and the whole length of robot joint module can further be reduced in the horizontal space of make full use of.

In one embodiment, the motor driving device further comprises a motor driving board, and the motor coding PCB and the speed reducer coding PCB are integrated on the motor driving board. Through integrating motor code PCB and speed reducer code PCB in motor drive board, motor drive board is through acquireing the signal of telecommunication that motor encoder and speed reducer encoder gathered and then control motor operation, in addition through with motor code PCB and speed reducer code PCB integration on motor drive board, the integrated level is high, more convenient equipment.

In one embodiment, the transmission assembly comprises a transmission shaft sleeve and a harmonic speed reduction assembly, the heat dissipation assembly is sleeved on the outer side of the transmission shaft sleeve, the transmission shaft sleeve is in transmission connection with the input end of the harmonic speed reduction assembly, and the output end of the harmonic speed reduction assembly is connected with the driving shaft. Through setting up driving sleeve and harmonic speed reduction subassembly, radiator unit passes through driving sleeve transmission with harmonic speed reduction subassembly and is connected, thereby reduces the rotational speed and improve output torque after harmonic speed reduction subassembly conversion, realizes the transmission that slows down.

In one embodiment, the first heat dissipation member is provided with a first avoidance hole, the driving shaft sleeve portion is inserted into the first heat dissipation member, a first threaded hole is formed in the side wall of the first heat dissipation body, and a second threaded hole matched with the first threaded hole is formed in the side wall of the driving shaft sleeve. Through set up the screw hole of looks adaptation respectively at the lateral wall of first heat dissipation body and driving sleeve, fix first heat dissipation piece and driving sleeve through threaded connection when driving sleeve inserts and establishes first heat dissipation body for driving motor during operation, first heat dissipation piece can drive driving sleeve synchronous rotation.

In one embodiment, the brake device further comprises a permanent magnet brake piece, the permanent magnet brake piece is arranged on the shell component and sleeved on the outer side of the first heat dissipation component, and a brake pad of the permanent magnet brake piece is detachably connected with the side wall of the first heat dissipation component. Through setting up permanent magnetism brake spare, when electric current passes through permanent magnetism brake ware magnetic coil, the brake block is closed in permanent magnetism power actuation for brake block and the first radiator unit separation, at this moment driving motor drives first radiator unit and normally rotates, thereby drives the drive shaft and normally works. When the current of the permanent magnet brake piece is blocked, the permanent magnetic force disappears, the brake pad is tightly attached to the first heat dissipation assembly, the first heat dissipation assembly and the brake pad generate a conflict torque, and the first heat dissipation assembly is rapidly braked, so that the driving motor stops working, and the driving shaft stops rotating.

In one embodiment, the first heat dissipation element further comprises a braking portion, the braking portion is arranged on one side of the first heat dissipation body, the outer diameter of the braking portion is smaller than that of the first heat dissipation body, the permanent magnet braking element is provided with a first through hole, the braking portion is inserted into the first through hole, and the hole wall of the first through hole of the brake pad can be separated from or abutted against the side wall of the braking portion. Through setting up the braking portion, when electric current passes through permanent magnetism stopper magnetic coil, the brake block is closed in permanent magnetic force actuation for brake block and braking portion separation, at this moment driving motor drives first radiator unit and normally rotates, thereby drives the drive shaft and normally works. When the current of the permanent magnet brake piece is blocked, the permanent magnet force disappears, the brake pad is tightly attached to the brake part, and the brake part and the brake pad generate a collision torque to rapidly brake the first heat dissipation assembly, so that the driving shaft stops working. In addition, the braking portion keeps away from permanent magnet brake spare and motor encoder and sets up, can avoid permanent magnet brake spare to the electromagnetic interference of magnetic encoder, and the external diameter of braking portion is less than the external diameter of first heat dissipation body simultaneously for the outside of braking portion can be located to permanent magnet brake spare cover, makes braking portion and permanent magnet brake spare be in same horizontal plane, and the radial length of make full use of horizontal space can reduce robot joint module.

Drawings

Fig. 1 is a perspective view of a robot joint module according to an embodiment;

FIG. 2 is a cross-sectional view of a robot joint module according to an embodiment;

FIG. 3 is an exploded view of a robot joint module according to an embodiment;

FIG. 4 is a perspective view of a heat sink assembly according to one embodiment;

fig. 5 is an exploded view of a heat dissipation assembly of an embodiment.

Wherein, the corresponding relation between the reference signs and the component names is as follows:

1 housing assembly, 101 first heat sink, 102 second heat sink;

2 driving the motor;

3 heat dissipation component, 301 heat dissipation groove, 302 mounting groove, 303 first threaded hole, 31 first heat dissipation part, 311 first heat dissipation body, 312 first blade, 313 brake part, 32 second heat dissipation part, 321 second heat dissipation body, 322 second blade, 323 boss;

4, a transmission assembly, 401, a second threaded hole, 41 transmission shaft sleeves and 42 harmonic speed reduction assemblies;

5 driving the shaft;

6, an encoder component, 61 a motor encoder and 62 a speed reducer encoder;

7, driving a motor;

8 permanent magnet brake pieces.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A robot joint module according to some embodiments of the present invention will be described with reference to the accompanying drawings.

As shown in fig. 1 to 3, the present embodiment discloses a robot joint module, including: the heat dissipation device comprises a shell assembly 1, wherein the shell assembly 1 is provided with an installation cavity, the shell assembly 1 is provided with a plurality of heat dissipation ports, and the plurality of heat dissipation ports are communicated with the installation cavity; the driving motor 2 is arranged on the shell component 1, and the driving motor 2 is positioned in the installation cavity; the heat dissipation assembly 3 is positioned in the mounting cavity, the output end of the driving motor 2 is sleeved on the outer side of the heat dissipation assembly 3, the heat dissipation assembly 3 is communicated with the heat dissipation opening, and the driving motor 2 drives the heat dissipation assembly 3 to rotate to generate wind power; the transmission component 4 is sleeved with the heat dissipation component 3, and the heat dissipation component 3 is used for driving the transmission component 4 to move; the output end of the driving component 4 is connected with the driving shaft 5, and the driving shaft 5 is connected with the output end of the transmission component 4.

The application discloses robot joint module, through the built-in high integrated radiator unit 3 in joint module, radiator unit 3 is high-speed rotatory wind-force of production under driving motor 2's drive, thereby it flows to drive air all around, the heat that orders about joint module work production is dispelled from a plurality of thermovents that casing subassembly 1 set up fast, thereby the motor has been strengthened, the heat-sinking capability between reduction gear and the joint component, transient state temperature rise under the motor peak value state has been reduced, the bearing capacity of motor has been improved, the stability of joint module has been guaranteed, and this joint module need not to install other heat abstractor additional, consequently, the volume of joint module has also been reduced under the prerequisite that satisfies the heat dissipation demand, satisfy the robot weight, when the compactification requirement, manufacturing cost has also been reduced.

As shown in fig. 2 and 5, in addition to the features of the above embodiment, the present embodiment further defines: the heat dissipation assembly 3 includes a first heat dissipation member 31, the first heat dissipation member 31 includes a first heat dissipation body 311 and a plurality of first blades 312, an output end of the driving motor 2 is sleeved on a peripheral wall of one end of the first heat dissipation body 311, the plurality of first blades 312 are arranged on a peripheral wall of the other end of the first heat dissipation body 311 at intervals, and the first blades 312 are arranged opposite to the first heat dissipation opening 101 of the housing assembly 1. The first heat sink 31 is composed of a first heat sink body 311 and a plurality of first blades 312, the plurality of first blades 312 are distributed on the side wall of the first heat sink body 311 at intervals, and when the driving motor 2 works, the first heat sink 31 is driven to rotate at a high speed to generate an air source, so that the air flow around is accelerated, and the heat of the joint module is rapidly dissipated.

As shown in fig. 2 and 5, in addition to the features of the above embodiment, the present embodiment further defines: the first heat dissipation body 311 is provided with a heat dissipation groove 301, the heat dissipation groove 301 is adjacent to the peripheral wall of the first heat dissipation body 311, and the heat dissipation groove 301 is communicated with the heat dissipation opening. Through the arrangement of the heat dissipation groove 301, the contact area between the peripheral wall of the first heat dissipation body 311 and the air is increased, so that when the heat generated by the driving motor 2 is conducted to the first heat dissipation member 31 through the peripheral wall of the first heat dissipation body 311, the air can take away the heat more quickly, and the heat dissipation capability of the first heat dissipation body 311 is improved.

In addition to the features of the above embodiments, the present embodiment further defines: the first heat dissipation body 311 and the plurality of first blades 312 are integrally formed. First heat dissipation body 311 and a plurality of first blades 312 adopt integrated into one piece's structure, need not independent processing equipment once more for production is simpler, improves production efficiency, and in addition, through above-mentioned result, first heat dissipation piece 31 will be more stable when rotating at a high speed.

As shown in fig. 2 and 5, in addition to the features of the above embodiment, the present embodiment further defines: the heat dissipation assembly 3 further includes a second heat dissipation member 32, the second heat dissipation member 32 includes a second heat dissipation body 321 and a plurality of second blades 322, the second heat dissipation body 321 is coaxially disposed on one side of the first heat dissipation body 311 away from the first blades 312, the plurality of second blades 322 are disposed on the peripheral wall of the second heat dissipation body 321 at intervals, and the second blades 322 are disposed opposite to the second heat dissipation opening 102 of the housing assembly 1. Through set up second heat dissipation piece 32 on first heat dissipation piece 31, second heat dissipation piece 32 comprises second heat dissipation body 321 and a plurality of second blade 322, a plurality of second blade 322 interval distribution are on the lateral wall of second heat dissipation body 321, when driving motor 2 during operation, first heat dissipation piece 31 will drive second heat dissipation piece 32 high-speed rotatory wind regime that produces, through set up first heat dissipation piece 31 and second heat dissipation piece 32 respectively in driving motor 2's both sides, second heat dissipation piece 32 sets up with the drive plate is adjacent, make the abundant fast flow of air in the joint module, cool off the joint module through the air current.

As shown in fig. 2 and 5, in addition to the features of the above embodiment, the present embodiment further defines: the second heat dissipating member 32 further includes a boss 323, the boss 323 is disposed on the second heat dissipating body 321, and a mounting groove 302 adapted to the boss 323 is disposed on a side of the first heat dissipating body 311 away from the first blade 312. Through set up mounting groove 302 on first heat dissipation body 311, can make second heat dissipation body 321 install on first heat dissipation piece 31 through boss 323 adaptation, when first heat dissipation piece 31 rotates, drive second heat dissipation piece 32 synchronous stabilization and rotate rotatory production wind regime, in addition through the cooperation of boss 323 and mounting groove 302, be favorable to reducing robot joint module's overall length.

As shown in fig. 2, in addition to the features of the above embodiment, the present embodiment further defines: still include encoder subassembly 6, the encoder subassembly sets up in the installation cavity, and encoder subassembly 6 includes motor encoder 61 and speed reducer encoder 62, and motor encoder 61's part is connected with radiator unit 3's one end, and speed reducer encoder 62's part is connected with the one end of drive shaft 5. The motor encoder 61 is used to detect the rotational state of the second heat sink 32, and the reducer encoder 62 is used to detect the rotational state of the drive shaft 5. The driving motor 2 drives the first heat dissipation member 31 and the second heat dissipation member 32 to rotate synchronously, so that the rotation state of the output end of the driving motor 2 can be judged by detecting the rotation of the second heat dissipation member 32. The driving shaft 5 is connected with the output end of the transmission assembly 4, the output end of the transmission assembly 4 is the output end of the harmonic speed reduction assembly 42, and the rotation state of the output end of the harmonic speed reduction assembly 42 is judged by detecting the rotation of the driving shaft 5. Compared with a single absolute value encoder, the double encoders are arranged, so that the zero position of the output shaft of the motor can be obtained when the motor starts, and the zero position of the encoder is not lost due to the fact that the battery is not electrified, so that the space of the encoder externally connected with the battery can be saved, and the occupied space of the joint module is reduced; compared with a single incremental encoder, the double encoders can acquire the zero position of the output end of the motor when the motor starts, an external zero switch is not needed, and the action step of finding the zero point by a switch servo system is omitted.

In addition to the features of the above embodiments, the present embodiment further defines: the motor encoder 61 comprises a motor encoding PCB and a first encoding magnet, the first encoding magnet is arranged on one side of the second heat dissipation body 321 far away from the first heat dissipation member 31, the motor encoding PCB is arranged opposite to the first encoding magnet, and the second heat dissipation body 321, the first encoding magnet and the first heat dissipation member 31 synchronously rotate; the speed reducer encoder 62 comprises a speed reducer encoding PCB and a second encoding magnet, the second encoding magnet is arranged on the driving shaft 5 through a fixing piece, the fixing piece is coaxially sleeved on one end, close to the second heat dissipation piece 32, of the driving shaft 5, the second encoding magnet is arranged on one side, far away from the first heat dissipation piece 31, of the fixing piece, the speed reducer encoding PCB is arranged opposite to the second encoding magnet, and the fixing piece, the second encoding magnet and the driving shaft 5 synchronously rotate. The first encoding magnet is coaxially arranged on the second heat dissipation member 32 through the second heat dissipation body 321, the first encoding magnet and the second heat dissipation member 32 synchronously rotate, and the motor encoding PCB converts the angular displacement of the first encoding magnet into an electrical signal. The second coding magnet is coaxially arranged on the driving shaft 5 through the fixing piece, the second coding magnet and the driving shaft 5 synchronously rotate, and the speed reducer coding PCB is converted into an electric signal according to the angular displacement of the second coding magnet. Through the cooperation of motor encoder 61 and speed reducer encoder 62, when restarting after outage, according to the absolute position of drive shaft 5 and the reduction ratio of speed reducer to can confirm the zero position of motor output. In addition, motor code PCB and speed reducer code PCB pass through casing subassembly 1 to be fixed respectively in the top of first code magnet and second code magnet, realize that code PCB is external to conveniently install, change and maintain encoder subassembly 6, and avoid encoder subassembly 6 to hinder radiator unit 3 and drive shaft 5 and rotate.

As shown in fig. 2, in addition to the features of the above embodiment, the present embodiment further defines: the second heat sink 32 is provided with a second avoiding hole, the fixing member is at least partially located in the second avoiding hole, and the aperture of the second avoiding hole is larger than the radial length of the speed reducer encoder 62. Hole is dodged through setting up the second, sets up motor encoder 61 in speed reducer encoder 62's the outside for motor encoder 61 and speed reducer encoder 62 are in same horizontal plane, and the whole length of robot joint module can further be reduced in the horizontal space of make full use of.

As shown in fig. 2 and 3, in addition to the features of the above embodiment, the present embodiment further defines: still include motor drive board 7, motor code PCB and speed reducer code PCB integrate in motor drive board 7. Through integrating motor code PCB and speed reducer code PCB in motor drive board 7, motor drive board 7 is through the signal of telecommunication that acquires motor encoder 61 and speed reducer encoder 62 and then control motor operation, in addition through with motor code PCB and speed reducer code PCB integration on motor drive board 7, the integrated level is high, more convenient equipment.

As shown in fig. 2 and 3, in addition to the features of the above embodiment, the present embodiment further defines: the transmission assembly 4 comprises a transmission shaft sleeve 41 and a harmonic speed reducing assembly 42, the heat dissipation assembly 3 is sleeved on the outer side of the transmission shaft sleeve 41, the transmission shaft sleeve 41 is in transmission connection with the input end of the harmonic speed reducing assembly 42, and the output end of the harmonic speed reducing assembly 42 is connected with the driving shaft 5. Through setting up driving sleeve 41 and harmonic speed reduction unit 42, radiator unit 3 passes through driving sleeve 41 transmission connection with harmonic speed reduction unit 42, thereby reduces the rotational speed and improve output torque after harmonic speed reduction unit 42 conversion, realizes the transmission that slows down.

As shown in fig. 3 and 4, in addition to the features of the above embodiment, the present embodiment further defines: the first heat dissipation member 31 is provided with a first avoidance hole, the transmission shaft sleeve 41 is partially inserted into the first heat dissipation member 31, the side wall of the first heat dissipation body 311 is provided with a first threaded hole 303, and the side wall of the transmission shaft sleeve 41 is provided with a second threaded hole 401 matched with the first threaded hole 303. Through respectively setting up the screw hole of looks adaptation at the lateral wall of first heat dissipation body 311 and driving sleeve 41, fix first heat dissipation piece 31 and driving sleeve 41 through threaded connection when driving sleeve 41 inserts and establishes first heat dissipation body 311 for driving motor 2 during operation, first heat dissipation piece 31 can drive driving sleeve 41 synchronous revolution.

As shown in fig. 2 and 3, in addition to the features of the above embodiment, the present embodiment further defines: still include permanent magnetism brake piece 8, permanent magnetism brake piece 8 sets up on casing subassembly 1, and permanent magnetism brake piece 8 cup joints in first radiator unit 3's the outside, and the brake block of permanent magnetism brake piece 8 and first radiator unit 3's lateral wall separable connection. Through setting up permanent magnetism brake 8, when electric current passes through permanent magnetism brake magnetic coil, permanent magnetism power actuation brake block for the brake block separates with first radiator unit 3, and at this moment driving motor 2 takes first radiator unit 3 normal rotation, thereby drives drive shaft 5 and normally works. When the current of the permanent magnet brake piece 8 is blocked, the permanent magnetic force disappears, the brake pad is tightly attached to the first heat dissipation assembly 3, a conflict torque is generated between the first heat dissipation assembly 3 and the brake pad, the first heat dissipation assembly 3 is rapidly braked, the driving motor 2 stops working, and the driving shaft 5 stops rotating.

As shown in fig. 2, 3 and 5, in addition to the features of the above embodiments, the present embodiment further defines: the first heat sink 31 further includes a braking portion 313, the braking portion 313 is disposed on one side of the first heat sink body 311, an outer diameter of the braking portion 313 is smaller than an outer diameter of the first heat sink body 311, the permanent magnet brake element 8 is provided with a first through hole, the braking portion 313 is inserted into the first through hole, and a hole wall of the first through hole of the brake pad is separable from or abutted against a side wall of the braking portion 313. Through the arrangement of the braking portion 313, when current passes through the magnetic coil of the permanent magnet brake, the permanent magnet force attracts the brake pad, so that the brake pad is separated from the braking portion 313, and at the moment, the driving motor 2 drives the first heat dissipation assembly 3 to normally rotate, so that the driving shaft 5 is driven to normally work. When the current of the permanent magnet brake piece 8 is blocked, the permanent magnet force disappears, the brake pad is tightly attached to the brake part 313, and the brake part 313 and the brake pad generate a collision torque to rapidly brake the first heat dissipation component 3, so that the driving shaft 5 stops working. In addition, the braking part 313 keeps away from the permanent magnet brake 8 and the motor encoder 61, so that electromagnetic interference of the permanent magnet brake 8 on the magnetic encoder can be avoided, and meanwhile, the outer diameter of the braking part 313 is smaller than that of the first heat dissipation body 311, so that the permanent magnet brake 8 can be sleeved on the outer side of the braking part 313, the braking part 313 and the permanent magnet brake 8 are located on the same horizontal plane, the transverse space is fully utilized, and the radial length of the robot joint module can be reduced.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A robot joint module, comprising:

the heat dissipation device comprises a shell assembly (1), wherein the shell assembly (1) is provided with an installation cavity, the shell assembly (1) is provided with a plurality of heat dissipation ports, and the plurality of heat dissipation ports are communicated with the installation cavity;

the driving motor (2) is arranged on the shell assembly (1), and the driving motor (2) is located in the installation cavity;

the heat dissipation assembly (3) is located in the installation cavity, the output end of the driving motor (2) is sleeved on the outer side of the heat dissipation assembly (3), the heat dissipation assembly (3) is communicated with the heat dissipation port, and the driving motor (2) drives the heat dissipation assembly (3) to rotate to generate wind power;

the transmission component (4) is sleeved with the heat dissipation component (3), and the heat dissipation component (3) is used for driving the transmission component (4) to move;

the output end of the transmission assembly (4) is connected with the driving shaft (5).

2. The robot joint module according to claim 1, wherein the heat sink assembly (3) comprises a first heat sink (31), the first heat sink (31) comprises a first heat sink body (311) and a plurality of first blades (312), an output end of the driving motor (2) is sleeved on a peripheral wall of one end of the first heat sink body (311), the plurality of first blades (312) are arranged on a peripheral wall of the other end of the first heat sink body (311) at intervals, and the first blades (312) are arranged opposite to the first heat dissipating port (101) of the housing assembly (1).

3. The robot joint module of claim 2,

the first heat dissipation body (311) is provided with a heat dissipation groove (301), the heat dissipation groove (301) is arranged adjacent to the peripheral wall of the first heat dissipation body (311), and the heat dissipation groove (301) is communicated with the heat dissipation opening; and/or

The first heat dissipation body (311) and the plurality of first blades (312) are integrally formed.

4. The robot joint module according to claim 2, wherein the heat sink assembly (3) further comprises a second heat sink (32), the second heat sink (32) comprises a second heat sink body (321) and a plurality of second blades (322), the second heat sink body (321) is coaxially disposed on a side of the first heat sink body (311) away from the first blades (312), the plurality of second blades (322) are disposed at intervals on a peripheral wall of the second heat sink body (321), and the second blades (322) are disposed opposite to the second heat dissipating opening (102) of the housing assembly (1).

5. The robot joint module according to claim 4, wherein the second heat sink (32) further comprises a boss (323), the boss (323) is disposed on the second heat sink body (321), and a mounting groove (302) adapted to the boss (323) is disposed on a side of the first heat sink body (311) away from the first blade (312).

6. The robot joint module of claim 4, further comprising an encoder assembly (6) disposed within the mounting cavity, the encoder assembly (6) including a motor encoder (61) and a reducer encoder (62), a portion of the motor encoder (61) being connected to one end of the heat sink assembly (3), and a portion of the reducer encoder (62) being connected to one end of the drive shaft (5).

7. The robot joint module of claim 6,

the motor encoder (61) comprises a motor encoding PCB and a first encoding magnet, the first encoding magnet is arranged on one side, away from the first heat dissipation part (31), of the second heat dissipation body (321), the motor encoding PCB is arranged opposite to the first encoding magnet, and the second heat dissipation body (321), the first encoding magnet and the first heat dissipation part (31) rotate synchronously;

speed reducer encoder (62) includes speed reducer code PCB and second code magnet, second code magnet passes through the mounting setting and is in on drive shaft (5), the coaxial cover of mounting is established drive shaft (5) are close to one of second heat dissipation piece (32) is served, second code magnet sets up the mounting is kept away from one side of first heat dissipation piece (31), speed reducer code PCB with second code magnet sets up relatively, the mounting second code magnet with drive shaft (5) synchronous revolution.

8. The robot joint module of claim 7,

the second heat dissipation piece (32) is provided with a second avoidance hole, the fixing piece is at least partially positioned in the second avoidance hole, and the aperture of the second avoidance hole is larger than the radial length of the speed reducer encoder (62); and/or

The motor is characterized by further comprising a motor driving board (7), wherein the motor coding PCB and the speed reducer coding PCB are integrated on the motor driving board (7).

9. The robot joint module according to claim 2, wherein the transmission assembly (4) comprises a transmission shaft sleeve (41) and a harmonic speed reduction assembly (42), the heat dissipation assembly (3) is sleeved outside the transmission shaft sleeve (41), the transmission shaft sleeve (41) is in transmission connection with an input end of the harmonic speed reduction assembly (42), and an output end of the harmonic speed reduction assembly (42) is connected with the driving shaft (5).

10. The robot joint module according to claim 9, wherein the first heat dissipation member (31) is provided with a first avoidance hole, the driving shaft sleeve (41) is partially inserted into the first heat dissipation member (31), a first threaded hole (303) is formed in a side wall of the first heat dissipation body (311), and a second threaded hole (401) matched with the first threaded hole (303) is formed in a side wall of the driving shaft sleeve (41).