CN219748051U

CN219748051U - Modularized cooperative robot joint module with good heat dissipation performance

Info

Publication number: CN219748051U
Application number: CN202321157669.2U
Authority: CN
Inventors: 揭州; 田建林
Original assignee: Borunte Robot Co Ltd
Current assignee: Borunte Robot Co Ltd
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2023-09-26
Anticipated expiration: 2033-05-12

Abstract

The modularized cooperative robot joint module with good heat dissipation performance is characterized in that an output transfer shaft is fixed at the lower end of a speed reducer, a frameless torque motor rotor is fixed at the upper end of an input shaft of the speed reducer, and a frameless torque motor stator is in interference fit with the inner side of a motor shell; the brake fixing plate is fixed at the upper end of the motor shell, the electromagnetic brake is fixed below the brake fixing plate, the input end bearing is arranged inside the electromagnetic brake, the inner ring of the input end bearing is matched with the brake switching shaft, and the brake switching shaft is fixed on the frameless torque motor rotor; an outer encoder code disc is arranged on the upper end face of the brake switching shaft, and an inner encoder code disc is arranged on the upper end face of the output switching shaft; the driving seat is fixed at the upper end of the braking fixed plate, the output end bearing is arranged inside the driving seat, the inner ring of the output end bearing is matched with the output switching shaft, and the outer ring of the output end bearing is matched with the driving seat. The cooperation robot joint module of this case, its modularization degree is high, installation maintenance is convenient, heat dispersion is good.

Description

Modularized cooperative robot joint module with good heat dissipation performance

Technical Field

The utility model relates to the technical field of modularized cooperative robots, in particular to a modularized cooperative robot joint module with good heat dissipation performance.

Background

At present, industrial robots are promoted to be new and continuously seek to change. The intellectualization and the digitalization are becoming the main stream of the industry, and the cooperative robot starts to be in the brand-new position and is favored by the market. In order to accelerate development progress of the collaborative robot and realize batch production, it is necessary to modularly design components of the collaborative robot. The joint module is one of typical component parts of a cooperative robot, mainly comprises a speed reducer, a frameless torque motor, an encoder, a driver and the like, and the conventional joint module has the following defects:

1. when in operation, the heat is serious or the heat dissipation of the body structure is poor, so that the temperature of the outer surface of the joint module is high;

2. is not easy to be disassembled and maintained.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the modularized cooperative robot joint module with good heat dissipation performance, so as to overcome the defects in the prior art.

In order to achieve the above purpose, the utility model is realized by the following technical scheme:

the modularized collaborative robot joint module with good heat dissipation performance comprises an output switching shaft, a speed reducer, a frameless torque motor, a motor shell, a braking switching shaft, an electromagnetic brake, a braking fixing plate, an input end bearing, an encoder outer code disc, an encoder inner code disc, an output end bearing and a driving seat which are assembled together in a modularized coaxial mode. The output transfer shaft is fixed at the lower end of the speed reducer, the rotor of the frameless torque motor is fixed at the uppermost end of the input shaft of the speed reducer, the stator of the frameless torque motor is in interference fit with the inner side of the motor shell, and the periphery of the stator of the frameless torque motor is wrapped with a layer of heat conductor; the brake fixing plate is fixed at the upper end of the motor shell, the electromagnetic brake is fixed below the brake fixing plate, the input end bearing is arranged inside the electromagnetic brake, the inner ring of the input end bearing is matched with the brake switching shaft, and the brake switching shaft is fixed on the frameless torque motor rotor; an outer encoder code disc is arranged on the upper end face of the brake switching shaft, and an inner encoder code disc is arranged on the upper end face of the output switching shaft; the driving seat is fixed at the upper end of the braking fixed plate, the driving seat is provided with a driver, the output end bearing is arranged inside the driving seat, the inner ring of the output end bearing is matched with the output switching shaft, and the outer ring of the output end bearing is matched with the driving seat.

Further, a plurality of first heat dissipation grooves are formed in the outer surface of the motor casing, and the first heat dissipation grooves form an I-shaped frame structure.

Further, the motor casing is further provided with a boss, and a circle of first fastening screw holes are uniformly formed in the outer edge of the boss in the circumferential direction.

Further, a second fastening screw hole is axially formed in the end face of the rotor of the frameless torque motor.

Further, a second heat dissipation groove is formed in the brake fixing plate.

Further, the motor casing and the brake fixing plate are made of aluminum materials.

Further, the output switching shaft is a hollow shaft.

Compared with the prior art, the utility model has the beneficial effects that:

1) High integration and modularization: the important parts such as a speed reducer, a frameless torque motor, an encoder, a brake assembly, a driver and the like which are originally installed in the joint body of the robot are integrated into a joint module, and are independent from the joint of the robot (separated from the joint body), so that the modularized design is completed.

2) The heat dissipation is fast: because the temperature rise source of joint module mainly is speed reducer, electromagnetic braking ware and frameless moment motor stator and produces in the operation in-process, for quick heat conduction goes out, the cooperation robot joint module of this case has adopted following three kinds of modes to dispel the heat:

2.1 The periphery of the stator of the frameless torque motor is wrapped with a layer of heat conductor, the heat conductor is directly attached to the motor shell, heat is transmitted to the motor shell to the maximum extent, and finally, the heat is directly led out to the air outside the module;

2.2 The outer surface of the motor casing is provided with a plurality of first heat dissipation grooves, so that the heat dissipation area is greatly increased, the first heat dissipation grooves form an I-shaped frame structure, the I-shaped frame structure enables the strength of the motor casing to be increased, the weight of the motor casing to be reduced, the structure to be more stable and the stress to be more uniform, and meanwhile, the heat dissipation of the frameless torque motor stator can be faster due to the thinner wall thickness of the motor casing;

2.3 The brake fixing plate is provided with a second heat dissipation groove, so that the mass is reduced, heat is conveniently dissipated, when the electromagnetic brake operates to generate heat, the electromagnetic brake automatically conducts heat to the upper end of the electromagnetic brake, then conducts heat to the brake fixing plate from the upper end of the electromagnetic brake, and then dissipates heat to the driving seat through the second heat dissipation groove and dissipates heat to the outside air through the cavity of the driving seat.

3) Easy dismounting and replacement, the concrete realization is:

3.1 The module is provided with a boss, and a circle of first fastening screw holes are formed in the boss, so that the joint body and screws are sleeved and locked from the module driving seat to the speed reducer, and the joint surface of the module and the joint body is only two parts, so that the processing of the joint body and the weight of the joint body are greatly simplified, the modularization degree is high, and the assembly, disassembly and replacement are convenient;

3.2 The end face of the rotor of the frameless torque motor is axially provided with a second fastening screw hole, and the second fastening screw hole is used for axially connecting and fixing the rotor of the frameless torque motor;

3.3 The stator of the frameless torque motor is assembled with the motor shell by adopting interference fit, and a layer of heat conductor is wrapped in an interference fit gap instead of being assembled by adopting a traditional adhesive mode, so that the stator of the frameless torque motor and the motor shell are combined more firmly, the risk of bonding failure caused by thermal expansion when adopting the adhesive mode is avoided, and the assembly, disassembly and maintenance in later stage are also facilitated.

4) The precision is high: the double encoders are integrated on the driver, meanwhile, the encoder faces are on the same face, the inner space is saved, the encoder code disc is connected with the input-output switching shaft in a threaded machine meter screw locking mode, the distance between the encoder code disc and the driving plate is convenient to adjust, and the long cylindrical structure of the code disc ensures good coaxiality.

5) The joint has simple structure, good rigidity and convenient disassembly, assembly and replacement: the brake rotor hub structure is integrated into the brake switching shaft, and meanwhile, the motor rotor is provided with a threaded hole for fixing, so that the structure is more compact, the connection part is basically connected axially by a screw and positioned circularly, connection looseness and gaps are not easy to occur, connection is tight, rigidity is high, parts are convenient to install and replace (particularly, the motor rotor) and low in maintenance cost, and the reliability and the service life of the whole machine are improved.

6) The stability is good: the motor output shaft bearing is directly connected with the driving seat and is not contacted with the output shaft, so that the stability of the output shaft is improved, and the influence on the code disc of the inner encoder is reduced.

In order that the utility model may be more clearly understood, preferred embodiments of the utility model will be described below with reference to the accompanying drawings.

Drawings

FIG. 1 is an exploded view of the assembly of the present utility model;

FIG. 2 is a cross-sectional view of the assembled structure of the present utility model;

FIG. 3 is a schematic diagram of a motor housing according to the present utility model;

FIG. 4 is a schematic diagram of a frameless torque motor according to the present utility model;

fig. 5 is a schematic structural view of a brake fixing plate according to the present utility model.

The attached drawings are identified:

the device comprises a 1-output switching shaft, a 2-speed reducer, a 3-frameless torque motor, a 4-motor shell, a 5-braking switching shaft, a 6-electromagnetic brake, a 7-input end bearing, an 8-braking fixed plate, a 9-encoder outer code disc, a 10-encoder inner code disc, a 11-output end bearing and a 12-driving seat; 31-a heat conductor, 32-a second fastening screw hole, 41-a first heat dissipation groove, 42-a boss, 43-a first fastening screw hole and 81-a second heat dissipation groove.

Detailed Description

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are primarily for distinguishing between different devices, elements, or components (the particular categories and configurations may be the same or different) and are not intended to indicate or imply relative importance or quantity of the devices, elements, or components indicated, but are not to be construed as indicating or implying relative importance.

Furthermore, unless explicitly stated or limited otherwise, the terms "mounted," "configured with," "engaged with/connected to," and the like, are to be construed broadly as meaning, for example, "connected to," whether fixedly connected to, detachably connected to, or integrally connected to; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be the communication between the two elements; the specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1-5, the utility model provides a modularized collaborative robot joint module with good heat dissipation performance, which comprises an output adapter shaft 1, a speed reducer 2, a frameless torque motor 3, a motor casing 4, a brake adapter shaft 5, an electromagnetic brake 6, a brake fixing plate 8, an input end bearing 7, an encoder outer code disc 9, an encoder inner code disc 10, an output end bearing 11 and a driving seat 12 which are assembled together in a modularized coaxial manner.

The output adapter shaft 1 is fixed at the lower end of the speed reducer 2, the rotor of the frameless torque motor 3 is fixed at the uppermost end of the input shaft of the speed reducer 2, and the stator of the frameless torque motor 3 is in interference fit with the inner side of the motor casing 4.

The brake fixing plate 8 is fixed at the upper end of the motor casing 4, the electromagnetic brake 6 is fixed below the brake fixing plate 8, the input end bearing 7 is arranged inside the electromagnetic brake 6, the inner ring of the input end bearing 7 is matched with the brake switching shaft 5, and the brake switching shaft 5 is fixed on the rotor of the frameless torque motor 3.

An encoder outer code disc 9 is arranged on the upper end face of the brake switching shaft 5, and an encoder inner code disc 10 is arranged on the upper end face of the output switching shaft 1, so that closed-loop control is formed.

The driving seat 12 is fixed at the upper end of the braking fixed plate 8, the output end bearing 11 is arranged inside the driving seat 12, the inner ring of the output end bearing 11 is matched with the output adapter shaft 1, and the outer ring of the output end bearing 11 is matched with the driving seat 12.

In this embodiment, the following three ways are adopted to improve the heat dissipation performance of the joint module:

as shown in fig. 3, the outer surface of the motor casing 4 is designed with a plurality of first heat dissipation grooves 41, so that the heat dissipation area is greatly increased, and the plurality of first heat dissipation grooves 41 form an i-shaped frame structure, which increases the strength of the casing of the motor casing 4, reduces the weight, has a more stable structure and is more uniformly stressed, and meanwhile, the thinner wall thickness of the motor casing 4 can enable the stator of the frameless torque motor 3 to dissipate heat faster.

As shown in fig. 4, the periphery of the stator of the frameless torque motor 3 is wrapped with a layer of heat conductor 31, and the stator of the frameless torque motor 3 and the motor casing 4 are assembled in an interference fit manner instead of being assembled in a traditional adhesive manner, so that the stator of the frameless torque motor 3 and the motor casing 4 can be combined more firmly, the risk of bonding failure caused by thermal expansion in the adhesive manner is avoided, and the later disassembly and maintenance are also facilitated.

The width of the i-shaped frame structure of the first heat dissipation groove 41 on the motor casing 4 is larger than the width of the peripheral heat conductor 31 of the stator of the frameless torque motor 3, and a certain position requirement exists because the motor stator is the main heat source of the joint module. The design can lead the heat of the most severely heated stator heat conductor 31 to be conducted to the surface with larger area of the first heat dissipation groove 41 through the motor shell 4 at the fastest speed and then be dissipated into the air outside the module, so that the temperature rise of the stator is kept in a certain range, and the stator of the frameless torque motor 3 and the motor shell 4 cannot be loosened due to expansion; meanwhile, the influence of different deformation sizes caused by uneven heating can be quickly balanced, and the deformation is reduced;

as shown in fig. 5, the brake fixing plate 8 is provided with a second heat dissipation groove 81, when the electromagnetic brake 6 operates to generate heat, the electromagnetic brake 6 automatically conducts heat to the upper end of the brake fixing plate 8 from the upper end of the brake fixing plate, and then dissipates heat to the driving seat 12 through the second heat dissipation groove 81 on the brake fixing plate 8 and dissipates heat to the outside air through the cavity of the driving seat 12.

In this embodiment, the following scheme is adopted to promote the convenience of the dismouting maintenance of joint module:

as shown in fig. 3, the motor casing 4 is provided with a boss 42, and a circle of first fastening screw holes 43 are uniformly arranged on the outer periphery of the boss 42. The first fastening screw hole 43 enables the joint body and the screw to be sleeved and locked from the module driving seat 12 to the speed reducer 2, and the joint surface of the module and the joint body is only two, so that the processing of the joint body and the weight of the joint body are greatly simplified, the modularization degree is high, the disassembly and the assembly are convenient, and the economic value is high.

As shown in fig. 4, the end surface of the rotor of the frameless torque motor 3 is provided with a second fastening screw hole 32 along the axial direction, and the second fastening screw hole 32 is used for connecting and fixing the rotor of the frameless torque motor 3 along the axial direction, so that the assembly and disassembly are more convenient along the axial direction compared with the traditional lateral fastening mode.

Further, in this embodiment, the fixing manner of the encoder outer code wheel 9 and the brake adapter shaft 5, and the encoder inner code wheel 10 and the output adapter shaft 1 adopts a screw locking connection manner by using a screw machine meter screw, and other fixing and mounting manners adopt a screw connection manner.

Further, as shown in fig. 1 and fig. 2, the output adapter shaft 1 is a hollow shaft, the output adapter shaft 1 vertically penetrates through the whole module, and the inner wall of the output adapter shaft 1 is smooth, so that when a cable passes through the output adapter shaft 1, the friction of the cable caused by slow rotation of the output adapter shaft 1 is small, and the service life of the cable is influenced little.

Further, the driver seat 12 is provided with a driver not shown.

Further, since the motor casing 4 is covered from the top by the brake fixing plate 8, the inside of the motor casing 4 is closed, and dust is blocked.

Further, in this embodiment, the motor casing 4 and the brake fixing plate 8 are preferably made of aluminum material with good thermal conductivity.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.

Claims

1. The utility model provides a modularization cooperation robot joint module that heat dispersion is good, includes output changeover axle (1), speed reducer (2), frameless moment motor (3), motor casing (4), braking changeover axle (5), electromagnetic braking ware (6), braking fixed plate (8), input bearing (7), encoder outer code wheel (9), encoder inner code wheel (10), output bearing (11) and drive seat (12) that the modularization coaxial assembly is in the same place, its characterized in that:

the output transfer shaft (1) is fixed at the lower end of the speed reducer (2), the rotor of the frameless torque motor (3) is fixed at the uppermost end of the input shaft of the speed reducer (2), the stator of the frameless torque motor (3) is in interference fit with the inner side of the motor shell (4), and the periphery of the stator of the frameless torque motor (3) is wrapped with a layer of heat conductor (31);

the brake fixing plate (8) is fixed at the upper end of the motor shell (4), the electromagnetic brake (6) is fixed below the brake fixing plate (8), the input end bearing (7) is arranged inside the electromagnetic brake (6), the inner ring of the input end bearing (7) is matched with the brake switching shaft (5), and the brake switching shaft (5) is fixed on the rotor of the frameless torque motor (3);

an encoder outer code disc (9) is arranged on the upper end face of the brake switching shaft (5), and an encoder inner code disc (10) is arranged on the upper end face of the output switching shaft (1);

the driving seat (12) is fixed at the upper end of the braking fixed plate (8), a driver is arranged on the driving seat (12), the output end bearing (11) is arranged inside the driving seat (12), the inner ring of the output end bearing (11) is matched with the output switching shaft (1), and the outer ring of the output end bearing (11) is matched with the driving seat (12).

2. The modular collaborative robot joint module with good heat dissipation performance according to claim 1, wherein: a plurality of first heat dissipation grooves (41) are formed in the outer surface of the motor casing (4), and the first heat dissipation grooves (41) form an I-shaped frame structure.

3. The modular collaborative robot joint module with good heat dissipation performance according to claim 2, wherein: the motor casing (4) is further provided with a boss (42), and a circle of first fastening screw holes (43) are uniformly formed in the outer periphery of the boss (42).

4. The modular collaborative robot joint module with good heat dissipation performance according to claim 3, wherein: and a second fastening screw hole (32) is axially formed in the end face of the rotor of the frameless torque motor (3).

5. The modular collaborative robot joint module with good heat dissipation performance according to claim 4, wherein: the brake fixing plate (8) is provided with a second heat dissipation groove (81).

6. The modular collaborative robot joint module with good heat dissipation performance according to claim 5, wherein: the motor casing (4) and the brake fixing plate (8) are made of aluminum materials.

7. The modular collaborative robot joint module with good heat dissipation performance according to claim 6, wherein: the output switching shaft (1) is a hollow shaft.