TW202014084A - Heat dissipating system of robot - Google Patents

Abstract

A heat dissipating system of robot is provided. The heat dissipating system includes a gas supply device and a robot. The gas supply device is configured to provide a high-pressure gas. The robot is in communication with the gas supply device and includes a housing, an inlet and at least one valve. The housing defines an inner space. The inlet is disposed on the housing and is in communication with the gas supply device and the inner space. The at least one valve is disposed on the housing and is in communication with the inner space. The high-pressure gas outputted by the gas supply device is guided into the inner space through the inlet. When the valve is open, the high-pressure gas accommodated in the inner space is released through the valve.

Description

Robot cooling system

This case is about a heat dissipation system, especially a robot heat dissipation system.

Nowadays, robots have been widely used. In order to facilitate movement and operation, robots usually have rotatable joints and are equipped with motors to provide power. However, the internal space of the robot is relatively closed, and the heat energy generated by the rotation of the joints and the operation of the motor It is difficult to perform natural heat dissipation, resulting in excessive heat energy accumulation and even affecting the operation of the robot. Therefore, how to dissipate the internal space of the robot to maintain the normal operation of the robot is an important issue.

In order to dissipate the internal space of the robot well, the gas output from the external air source is often introduced to dissipate heat inside the robot. The existing heat dissipation technology is to build a trachea with a hole inside the robot. The trachea introduces the gas output from the external air source and releases the air into the robot's internal space through the hole, thereby dissipating heat-sensitive components (such as a motor) . However, the extra trachea will increase the cost and increase the complexity of the internal circuit design of the robot.

Therefore, how to develop a heat dissipation system for a robot that can improve the above-mentioned conventional technology is really an urgent need at present.

The purpose of this case is to provide a heat dissipation system for a robot, which outputs high-pressure gas from the air source device connected to the robot to the internal space of the robot. When the gas valve of the robot is opened, the high-pressure gas in the internal space is released through the air valve To dissipate heat inside the robot. In addition, the high-pressure gas system for heat dissipation is provided by the gas source device, so the gas source device can adjust the flow rate of the output high-pressure gas according to the actual situation. In addition, the high-pressure gas contained in the internal space of the robot is released only when the air valve is opened, and when the air valve is opened, the pressure of the high-pressure gas is greater than the atmospheric pressure of the external air, so it can prevent the external air from flowing into the robot through the air valve The internal space makes the robot have a higher level of protection against foreign objects.

To achieve the above purpose, this case provides a heat dissipation system for a robot, which includes an air source device and a robot. The gas source device is constructed to provide high-pressure gas. The robot communicates with the air source device, and includes a housing, an air inlet, and at least one air valve. The shell defines an internal space. The air inlet hole is provided on the casing and communicates with the air source device and the internal space. At least one gas valve is arranged on the housing and communicates with the internal space, wherein the high-pressure gas output by the gas source device flows into the internal space through the air inlet, and when the gas valve is opened, the high-pressure gas contained in the internal space passes through the gas valve Release.

Some typical embodiments embodying the characteristics and advantages of this case will be described in detail in the description in the following paragraphs. It should be understood that this case can have various changes in different forms, and they all do not deviate from the scope of this case, and the descriptions and illustrations therein are essentially used for explanation, not for limiting the case.

Figure 1 is a schematic diagram of the three-dimensional structure of the heat dissipation system of the robot of the preferred embodiment of the present case, Figure 2 is a schematic diagram of the three-dimensional structure of the robot shown in Figure 1, and Figure 3 is a diagram of the robot shown in Figure 1 A schematic diagram of part of the structure, and FIG. 4 is a cross-sectional view of the part of the structure of the robot shown in FIG. 3. As shown in Figures 1, 2, 3, and 4, the heat dissipation system 1 of the robot in this case includes an air source device 10 and a robot 20 that are in communication with each other. The gas source device 10 is configured to provide high-pressure gas to the robot 20, wherein the pressure of the high-pressure gas is greater than atmospheric pressure, and the gas source device 10 can adjust the flow rate of the output high-pressure gas.

The robot 20 includes an air inlet 21, a housing 22, and at least one air valve 23. The air inlet 21 and the air valve 23 are disposed on the housing 22. The housing 22 defines an internal space 24, wherein the internal space 24 and the air inlet 21 are respectively The air valve 23 communicates, and the air inlet 21 communicates with the air source device 10. The high-pressure gas output from the air source device 10 flows into the internal space 24 of the robot 20 through the air inlet hole 21, so that the internal space 24 is filled with high-pressure gas. When the gas valve 23 is closed, because the housing 22 of the robot 20 has a sealing characteristic, the internal space 24 of the robot 20 is isolated from the outside of the robot 20, and the housing 22 contains a hollow wire diameter, so high-pressure gas can be used in the robot The housing 22 of the 20 flows arbitrarily without leaking, and even flows to the end shaft of the robot 20, so there is no need to configure an extra trachea. When the air valve 23 is opened, the high-pressure gas in the internal space 24 is released to the outside of the robot 20 through the air valve 23, and because the pressure of the high-pressure gas is greater than the atmospheric pressure of the external air, it is sufficient to prevent external air from flowing into the robot 20 through the air valve 23之内空间24。 The internal space 24. In this way, the internal space 24 of the robot 20 can be effectively dissipated, and at the same time, the robot 20 can have a higher level of protection against foreign objects (Ingress Protection). The robot 20 may be, for example, a service robot, a collaborative robot, an industrial robot, or the like, but it is not limited thereto.

In addition, the communication method between the air inlet 21 of the robot 20 and the air source device 10 can be changed according to the actual situation, and is not limited to the conduit shown in FIG. 1, only need to ensure that the air source device 10 outputs high-pressure gas to the air inlet 21 During the process, the high-pressure gas will not leak out. In addition, the air inlet 21 may be provided at any position on the housing 22 without being hindered before the operation of the robot 20 is hindered, and is not limited to the position shown in FIG. 2.

In some embodiments, the position of the air valve 23 is adjacent to the components (such as the motor and the rotating shaft) that have high heat dissipation requirements in the internal space 24. When the air valve 23 is opened, the high-pressure gas system in the internal space 24 of the robot 20 is released through the air valve 23, so the gas flow adjacent to the air valve 23 is large, which can further promote the heat dissipation of the components adjacent to the air valve 23 , Effectively improve the heat dissipation efficiency.

In some embodiments, the gas valve 23 is a one-way exhaust valve, which is configured to restrict the flow direction of the gas, so that the high-pressure gas contained in the internal space 24 can flow to the outside of the robot 20 through the gas valve 23, while preventing it from being located in the robot The gas outside 20 flows into the internal space 24 via the gas valve 23. In this embodiment, the gas valve 23 is opened by the pressure difference between the high-pressure gas in the internal space 24 and the outside air to release the high-pressure gas through the gas valve 23, so there is no need to control the gas valve 23. In this embodiment, the air valve 23 is any valve capable of achieving one-way air flow.

In some embodiments, as shown in FIGS. 5A and 5B, the gas valve 23 which is a one-way exhaust valve includes a connected ball 231, an elastic member 232 and a stopper 233, wherein the stopper 233 has a hollow hole 234, The elastic member 232 is preferably but not limited to a spring. The housing 22 includes an accommodating space 221, and the accommodating space 221 communicates with the internal space 24 and the outside of the robot 20 through the first opening 222 and the second opening 223, respectively. The air valve 23 is disposed in the accommodating space 221, wherein the ball 231 is located in the first opening 222, and the diameter of the ball 231 is larger than the aperture of the first opening 222. The accommodating space 221 is based on the ball 231 and the first opening 222 The relative position between them is connected or isolated from the internal space 24. The stopper 233 is located in the second opening 223, and the diameter of the stopper 233 is equal to the aperture of the second opening. The accommodating space 221 communicates with the outside of the robot 20 through the hollow hole 234. Specifically, when the pressure of the high-pressure gas in the internal space 24 is greater than the external pressure, the pressure difference between the pressure of the high-pressure gas and the external pressure pushes the ball 231 toward the stopper 233, and the elastic member 232 is driven by the ball 231 Compression causes the gas valve 23 to open, and the accommodating space 221 communicates with the internal space 24 through the first opening 222, and the high-pressure gas in the internal space 24 is released to the outside of the robot 20 through the accommodating space 221 and the hollow hole 234. The external pressure includes, for example, atmospheric pressure and the elastic force of the elastic member 232 and/or the weight of the ball 231. When the pressure of the high-pressure gas in the internal space 24 is less than the external pressure, or the gas source device 10 stops supplying high-pressure gas, the gas pressure in the internal space 24 is less than the external pressure, and the restoring force of the elastic member 232 pushes the ball 231 toward the first An opening 222 moves, the first opening 222 is completely covered by the ball 231, so that the gas valve 23 is closed, and the accommodating space 221 is isolated from the internal space 24, thereby preventing the gas outside the robot 20 from passing through the hollow hole 234 and the accommodating space 221流内内空间24。 24 into the internal space.

In some embodiments, the gas valve 23 is an electronic gas valve. The robot 20 further includes a control unit (not shown). The control unit is electrically connected to the gas valve 23 and is configured to control the switch of the gas valve 23. The aforementioned one-way exhaust valve may also be an electronic valve. By controlling the opening and closing of the gas valve 23 through the control unit, and adjusting the flow rate of the high-pressure gas through the air source device 10, the heat dissipation system 1 can adjust the heat dissipation intensity to the internal space 24 of the robot 20 according to the actual heat dissipation requirements to avoid unnecessary losses. In some embodiments, the robot 20 further includes at least one temperature sensor (not shown). The temperature sensor is disposed in the internal space 24 of the robot 20 and is electrically connected to the control unit and the air source device 10. The temperature sensor is based on sensing the temperature of the internal space 24 of the robot 20 and correspondingly generates a feedback signal. The control unit receives the feedback signal output by the temperature sensor, and controls the opening and closing of the gas valve 23 according to the temperature of the internal space 24 reflected by the feedback signal. The gas source device 10 receives the feedback signal output by the temperature sensor, and adjusts the flow rate of the high-pressure gas according to the temperature of the internal space 24 reflected by the feedback signal.

In some embodiments, the robot 20 has a plurality of temperature sensors arranged in different areas of the internal space 24, respectively corresponding to the air valves 23 at different positions, when the control unit receives the feedback signal output by a certain temperature sensor, The temperature of the area can be reflected according to the feedback signal, and accordingly the control unit can control the gas valve 23 corresponding to the temperature sensor to open or close.

In some embodiments, the control unit can monitor the energy level of the input voltage or current of the robot 20 through the electronic control system. When the robot 20 is in a high energy consumption state, it means that the heat dissipation capacity of the heat dissipation system 1 increases. The unit controls the gas valve 23 to open, and increases the flow rate of high-pressure gas through the gas source device 10. When the robot 20 is in a low energy consumption state, it means that the heat dissipation capacity of the heat dissipation system 1 is reduced. According to this, the control unit controls the gas valve 23 to close, and/or reduces the flow of high-pressure gas through the gas source device 10 or stops supplying high-pressure gas.

In some embodiments, the robot 20 includes at least one airflow channel 25. The airflow channel 25 is disposed in the internal space 24 and communicates with the internal space 24 and the air valve 23, and is adjacent to components with high heat dissipation requirements (such as motors and Shaft), for example, as shown in Figure 6 (the structure located in the housing 22 is indicated by dotted lines), the air flow channel 25 is a channel, which is closely arranged on the outer surface of the ring wall of the motor stator 26, and the channel position corresponds to the air valve twenty three. Through the arrangement of the airflow channel 25, high-pressure gas can be introduced to increase the flow of high-pressure gas flowing through the components adjacent to the airflow channel 25, thereby enhancing the heat dissipation of specific components in the internal space 24.

In summary, this case provides a heat dissipation system for a robot, which outputs high-pressure gas from the air source device connected to the robot to the internal space of the robot. When the air valve of the robot is opened, the high-pressure gas in the internal space is passed through the air valve Release it to dissipate heat inside the robot. In addition, the high-pressure gas system for heat dissipation is provided by the gas source device, so the gas source device can adjust the flow rate of the output high-pressure gas according to the actual situation. In addition, the high-pressure gas contained in the internal space of the robot is released only when the air valve is opened, and when the air valve is opened, the pressure of the high-pressure gas is greater than the atmospheric pressure of the external air, so it can prevent the external air from flowing into the robot through the air valve The internal space makes the robot have a higher level of protection against foreign objects. In addition, when the gas valve is opened, the high-pressure gas system in the robot's internal space is released through the gas valve, so the gas flow adjacent to the gas valve is large, so that the position of the gas valve can be set close to the high heat dissipation requirement. The components, even correspondingly set the air flow channel to improve the heat dissipation efficiency.

It should be noted that the above is only the preferred embodiment proposed for the purpose of explaining the case. The case is not limited to the described embodiment, and the scope of the case is determined by the scope of the patent application. And this case must be modified by any person who is familiar with this technology, but it is not as good as the protection of the patent application.

1: heat dissipation system 10: air source device 20: robot 21: air inlet 22: housing 221: accommodating space 222: first opening 223: second opening 23: air valve 231: ball 232: elastic member 233: block Block 234: Hollow hole 24: Internal space 25: Air flow channel 26: Motor stator

FIG. 1 is a three-dimensional schematic diagram of the heat dissipation system of the robot according to the preferred embodiment of the present invention.

Figure 2 is a schematic view of the three-dimensional structure of the robot shown in Figure 1.

Fig. 3 is a schematic diagram of a part of the structure of the robot shown in Fig. 1.

Fig. 4 is a cross-sectional view of a part of the structure of the robot shown in Fig. 3.

FIG. 5A is a schematic perspective view of the gas valve shown in FIG. 3.

Figure 5B is an enlarged schematic view of the dotted box in Figure 4

Figure 6 is a schematic diagram of the internal structure of the part of the robot shown in Figure 1.

1: cooling system

10: Air source device

20: Robot

21: Air inlet

22: Shell

Claims (13)

A heat dissipation system for a robot includes: a gas source device, which is configured to provide a high-pressure gas; and a robot, which is connected to the gas source device, and includes: a housing, which defines an internal space; and an air inlet, which is provided in The casing is connected to the gas source device and the internal space; and at least one gas valve is provided on the casing and communicates with the internal space, wherein the high-pressure gas output by the gas source device passes through the The air inlet flows into the internal space, and when the air valve is opened, the high-pressure gas contained in the internal space is released through the air valve. The heat dissipation system of a robot as described in item 1 of the patent application scope, wherein the air valve is a one-way exhaust valve, which is structured to release the high-pressure gas contained in the internal space to the robot through the air valve Externally, and prevent gas located outside the robot from flowing into the internal space through the gas valve. The heat dissipation system for a robot as described in item 2 of the patent application, wherein the air valve includes a ball connected to it, an elastic member and a stopper, the stopper includes a hollow hole, and the housing includes a receiving space , The accommodating space communicates with the internal space and the exterior of the robot through a first opening and a second opening, respectively, wherein the air valve is disposed in the accommodating space, and the ball pair is located in the first opening, And the diameter of the ball is larger than the aperture of the first opening, the stopper pair is located in the second opening, and the diameter of the stopper is equal to the aperture of the second opening, the accommodating space communicates with the robot through the hollow hole external. The heat dissipation system of a robot as described in item 3 of the patent application scope, wherein when the pressure of the high-pressure gas in the internal space is greater than an external pressure, the ball is driven by the pressure of the high-pressure gas to compress the elastic member toward the The stopper moves to open the gas valve, and the accommodating space communicates with the internal space through the first opening, according to which the high-pressure gas contained in the internal space is released to the internal space through the accommodating space and the hollow hole Outside the robot, when the pressure of the high-pressure gas in the internal space is less than the external pressure, the ball is driven toward the first opening by the restoring force of the elastic member, and completely shields the first opening so that the gas The valve is closed, and the accommodating space is isolated from the internal space, wherein the external pressure includes atmospheric pressure and the elastic force of the elastic member and/or the weight of the ball. The heat dissipation system of a robot as described in item 1 of the patent application, wherein the gas valve is an electronic gas valve, and the robot further includes a control unit electrically connected to the gas valve, the control unit is configured to control the gas The switch of the valve. The heat dissipation system of a robot as described in item 5 of the patent application scope, wherein the robot further includes at least one temperature sensor electrically connected to the control unit, the temperature sensor is constructed to sense the temperature of the internal space, And correspondingly generate a feedback signal, the control unit receives and controls the switch of the gas valve according to the feedback signal. The heat dissipation system of a robot as described in item 6 of the patent application scope, wherein the at least one temperature sensor is electrically connected to the gas source device, and the gas source device receives and controls the flow rate of the output high-pressure gas according to the feedback signal . A heat dissipation system for a robot as described in item 7 of the patent application scope, wherein the robot further includes a plurality of the temperature sensors corresponding to the plurality of gas valves in different positions, and the control unit controls one of the temperature sensors The corresponding gas valve switch. The heat dissipation system of a robot as described in item 1 of the scope of the patent application, wherein the position of the air valve is adjacent to the element with high heat dissipation requirements in the internal space. The heat dissipation system for a robot as described in item 1 of the patent application scope, wherein the robot further includes at least one airflow channel, the airflow channel is disposed in the internal space of the robot and corresponds to and communicates with the air valve. The heat dissipation system of a robot as described in item 10 of the patent scope, wherein the airflow channel has a channel tightly mounted on the outer surface of a component with high heat dissipation requirements. The heat dissipation system of a robot as described in item 1 of the patent application scope, wherein the pressure of the high-pressure gas is greater than atmospheric pressure. The heat dissipation system of a robot as described in item 1 of the patent application scope, wherein the housing of the robot has sealing characteristics, and when the air valve is closed, the internal space of the robot is isolated from the exterior of the robot.

Images