WO2022134598A1 - 散热装置及具有其的机器人 - Google Patents

散热装置及具有其的机器人 Download PDF

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Publication number
WO2022134598A1
WO2022134598A1 PCT/CN2021/110040 CN2021110040W WO2022134598A1 WO 2022134598 A1 WO2022134598 A1 WO 2022134598A1 CN 2021110040 W CN2021110040 W CN 2021110040W WO 2022134598 A1 WO2022134598 A1 WO 2022134598A1
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Prior art keywords
heat dissipation
contact
heat
lubricant
dissipation device
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PCT/CN2021/110040
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English (en)
French (fr)
Inventor
王长恺
腾野
孔令超
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珠海格力电器股份有限公司
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Application filed by 珠海格力电器股份有限公司 filed Critical 珠海格力电器股份有限公司
Publication of WO2022134598A1 publication Critical patent/WO2022134598A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Definitions

  • the present disclosure relates to the field of robot heat dissipation, and in particular, to a heat dissipation device and a robot having the same.
  • the existing device for dissipating heat to the robot generally draws out the hot air in the base by arranging an exhaust fan and a filter assembly on the base, and the indoor cold air enters the base through the air inlet, and the flow of the cold air makes the heat dissipate.
  • the base exchanges heat with external air, thereby achieving the purpose of heat dissipation of the base.
  • the existing heat dissipation device cannot directly dissipate the heat of the lubricant in the reducer, the heat dissipation efficiency is low, and an additional power source is required, which is a waste of energy, which increases the structural complexity of the robot, and cannot effectively improve the speed of the reducer. Transmission efficiency.
  • the main purpose of the present disclosure is to provide a heat dissipation device and a robot having the same, so as to solve the problem that the heat dissipation device in the prior art has low heat dissipation efficiency for the robot.
  • a heat dissipation device installed on the body of the robot, the heat dissipation device comprising: a heat dissipation component installed on the body, at least a part of the heat dissipation component extends into the lubricant of the robot , in order to contact with the lubricant and absorb the heat of the lubricant; the heat dissipation part has a contact end surface that contacts the lubricant, and a plurality of grooves are arranged on the contact end surface; the limit part is sleeved on the heat dissipation part and is connected with the heat dissipation part.
  • the parts are connected, there is a diversion gap between the inner wall surface of the limit part and the contact end surface, and the limit part is provided with a liquid inlet hole and a liquid outlet hole. After the lubricant enters the diversion gap through the liquid inlet hole and contacts the contact end surface, Flow out through the outlet hole.
  • the heat dissipating component includes: a connecting body, connected with the body; a contact body, connected with the connecting body, the limiting component is sleeved on the contact body, at least part of the contact body is in contact with the lubricant, and the contact body follows a predetermined track
  • the contact end face is arranged on the contact body, and the contact body absorbs the heat of the lubricant and then dissipates the heat through the heat dissipation cavity.
  • the plurality of grooves are spaced apart along the length of the contact body.
  • a threaded groove is provided on the contact end surface, and the groove depth of the threaded groove gradually decreases from the contact bottom of the contact body to the top of the contact body.
  • the heat dissipation component further includes: a heat dissipation body disposed on the connection body, a heat dissipation plate is disposed on the heat dissipation body, and the heat dissipation plate protrudes in a direction away from the heat dissipation body.
  • the heat dissipation plate is disposed on the installation end surface of the heat dissipation body, and there are multiple heat dissipation plates, and the plurality of heat dissipation plates are arranged at intervals along the circumferential direction of the heat dissipation body, so as to enclose and communicate with the heat dissipation cavity between the plurality of heat dissipation plates. circulation space.
  • the airflow cross-sectional area of the flow space is larger than the airflow cross-sectional area of the heat dissipation cavity.
  • a robot comprising a heat dissipation device and a body, at least part of the heat dissipation device is mounted on the body, and the heat dissipation device is the above heat dissipation device.
  • the heat dissipation device is installed on the body of the robot, wherein the heat dissipation device includes a heat dissipation component and a limit component, the heat dissipation component is installed on the body, and at least part of the heat dissipation component extends into the lubricant of the robot to be compatible with the robot.
  • the lubricant contacts and absorbs the heat of the lubricant;
  • the heat dissipation component has a contact end surface that contacts the lubricant, and a plurality of grooves are arranged on the contact end surface;
  • the limit component is sleeved on the heat dissipation component and connected with the heat dissipation component, and the limit component
  • the direct contact between the heat-dissipating component and the lubricant can be used, so that the heat-dissipating component absorbs the heat in the lubricant and then dissipates it to the outside of the machine body.
  • the heat-dissipating component absorbs the heat in the lubricant and then dissipates it to the outside of the machine body.
  • the lubricant is diverted, and a plurality of grooves are arranged on the contact end surface, which increases the direct contact area between the lubricant and the heat dissipation component, and then the lubricant passes through the liquid outlet hole, which improves the heat dissipation efficiency of the robot.
  • FIG. 1 shows a schematic structural diagram of an embodiment of a heat dissipation device according to the present disclosure
  • FIG. 2 shows a schematic structural diagram of a heat dissipation component of a heat dissipation device according to the present disclosure
  • FIG. 3 is a schematic diagram showing the mutual cooperation between the heat dissipation member and the limiting member of the heat dissipation device according to the present disclosure.
  • the present disclosure provides a heat dissipation device, please refer to FIG. 1 to FIG. 3 , which is installed on the body 100 of the robot.
  • the heat dissipation device includes: a heat dissipation part 1 , which is installed on the body 100 , and at least part of the heat dissipation part 1 extends into the lubricating oil of the robot.
  • the heat dissipation component 1 has a contact end surface in contact with the lubricant, and a plurality of grooves 110 are arranged on the contact end surface; the limit component 2 is sleeved on the limit component 2
  • the heat-dissipating component 1 is connected to the heat-dissipating component 1.
  • the limiting component 2 is provided with a liquid inlet hole 20 and a liquid outlet hole 21.
  • the lubricant passes through the liquid inlet. After the hole 20 enters the guide gap and contacts the contact end surface, it flows out through the liquid outlet hole 21 .
  • the heat dissipation device provided according to the present disclosure is installed on the body 100 of the robot, wherein the heat dissipation device includes a heat dissipation part 1 and a limit part 2, the heat dissipation part 1 is installed on the body 100, and at least part of the heat dissipation part 1 extends into the lubrication of the robot
  • the heat dissipation part 1 has a contact end surface in contact with the lubricant, and a plurality of grooves 110 are arranged on the contact end surface; the limiting part 2 is sleeved on the heat dissipation part 1 and It is connected with the heat dissipation component 1. There is a diversion gap between the inner wall surface and the contact end surface of the limit component 2.
  • the limit component 2 is provided with a liquid inlet hole 20 and a liquid outlet hole 21.
  • the lubricant enters the diversion through the liquid inlet hole 20. After the gap is in contact with the contact end surface, it flows out through the liquid outlet hole 21 . In this way, the direct contact between the heat-dissipating component 1 and the lubricant can be used, so that the heat-dissipating component 1 absorbs the heat in the lubricant and then dissipates it to the outside of the body 100 .
  • the lubricant is diverted through the diversion gap, and a plurality of grooves 110 are arranged on the contact end surface, which increases the direct contact area between the lubricant and the heat dissipation component 1, and then the lubricant flows out through the liquid outlet hole 21, which improves the heat dissipation of the robot. efficiency.
  • the heat-dissipating component 1 includes: a connecting body 10 , which is connected to the body 100 ; a contacting body 11 , which is connected to the connecting body 10 , and the limiting component 2 is sleeved on the contacting body 11 . It extends along a predetermined track to enclose a heat dissipation cavity 12 , the contact end surface is arranged on the contact body 11 , and the contact body 11 absorbs the heat of the lubricant and dissipates the heat through the heat dissipation cavity 12 . In this way, the contact body 11 can be in contact with the lubricant, and then the absorbed heat can be dissipated through the heat dissipation cavity 12 .
  • a plurality of grooves 110 are arranged at intervals along the length direction of the contact body 11 . In this way, during the rotation of the joint, the lubricant can flow in the groove 110 to guide the lubricant.
  • the contact end face is provided with a threaded groove, and the groove depth of the threaded groove gradually decreases from the contact bottom of the contact body 11 to the top of the contact body 11 .
  • the lubricant can flow upward along the threaded groove, from the liquid inlet hole 20 to the liquid outlet hole 21, so that the lubricant has a sufficient flow stroke to fully contact the contact end surface, and conduct heat to the heat dissipation component 1.
  • the heat dissipation cavity 12 dissipates heat.
  • the heat dissipation component 1 further includes a heat dissipation body 13 disposed on the connection body 10 , a heat dissipation plate 130 is disposed on the heat dissipation body 13 , and the heat dissipation plate 130 protrudes in a direction away from the heat dissipation body 13 .
  • the heat dissipation body 13 is arranged on the connection body 10 , so that the heat dissipation body 13 is far away from the contact body 11 , and at the same time, the heat dissipation body 13 is placed on the heat dissipation body 13 .
  • the heat dissipation plate 130 is provided to conduct heat to the heat dissipation plate 130, thereby improving the heat dissipation efficiency.
  • the heat dissipation plate 130 is disposed on the installation end surface 131 of the heat dissipation body 13 .
  • There are a plurality of heat dissipation plates 130 and the plurality of heat dissipation plates 130 are arranged at intervals along the circumference of the heat dissipation body 13 to form a heat dissipation cavity between the plurality of heat dissipation plates 130 . 12 connected circulation spaces.
  • This arrangement can prevent the heat dissipation plate 130 from blocking the heat dissipation cavity 12, and prevent the problem of poor air circulation in the heat dissipation cavity caused by the blocking of the heat dissipation cavity, thereby affecting the heat dissipation effect in the heat dissipation cavity.
  • the axial section of the contact body 11 is U-shaped.
  • the heat dissipation component 1 is a copper tube or other metal material with good thermal conductivity.
  • the airflow cross-sectional area of the circulation space is larger than the airflow cross-sectional area of the heat dissipation cavity 12 .
  • the plurality of liquid inlet holes 20 are arranged at the lower part of the limiting member 2 at intervals along the circumferential direction.
  • there are a plurality of liquid outlet holes 21 are arranged at intervals in the upper part of the limiting member 2 along the circumferential direction.
  • the joint arm Since the depth of the thread groove gradually decreases, the joint arm does not need to rotate a full circle to make the lubricant flow upward for a certain distance under the action of inertia.
  • the rotation angle of the joint arm When the rotation angle of the joint arm is large enough, the lubrication The oil will flow to the liquid outlet hole and flow out.
  • the rotation angle of the joint arm When the rotation angle of the joint arm is not large enough, the lubricant will flow along the thread groove and flow out from the liquid inlet hole with the reverse rotation of the joint arm. During the flow, the heat of the lubricant will be released. Conducted to the contact body 11 and then dissipated by the heat dissipation cavity and the heat dissipation plate 130 .
  • the limiting member 2 is provided with a connecting flange 22 , the connecting flange 22 extends away from the body of the limiting member 2 , and the limiting member 2 is connected to the heat dissipation member 1 through the connecting flange 22 .
  • the present disclosure provides a robot, including a heat dissipation device and a body 100, at least a part of the heat dissipation device is mounted on the body 100, and the heat dissipation device is the heat dissipation device of the above-mentioned embodiment.
  • the robot body is provided with an installation groove, an oil seal is provided in the installation groove, and the heat dissipation component is in contact with the sealing lip of the oil seal to ensure the sealing performance of the joint.
  • a sealing ring is provided in the installation groove, and the heat dissipation device is pressed against the sealing ring to ensure the sealing performance of the joint.
  • the contact body 11 of the radiator is always infiltrated below the liquid level of the lubricant, so as to ensure that the radiator can always give kinetic energy to the lubricating oil entering through the liquid inlet hole when the radiator rotates with the joint, so as to ensure that the lubricating oil in the cavity of the reducer can be continuously removed.
  • the lubricant can be dissipated without an external power source, without affecting the operation and volume of the articulated arm, and without increasing the complexity of the robot.
  • the heat dissipation device provided according to the present disclosure is installed on the body 100 of the robot, wherein the heat dissipation device includes a heat dissipation part 1 and a limit part 2, the heat dissipation part 1 is installed on the body 100, and at least part of the heat dissipation part 1 extends into the lubrication of the robot
  • the heat dissipation part 1 has a contact end surface in contact with the lubricant, and a plurality of grooves 110 are arranged on the contact end surface; the limiting part 2 is sleeved on the heat dissipation part 1 and It is connected with the heat dissipation component 1. There is a diversion gap between the inner wall surface and the contact end surface of the limit component 2.
  • the limit component 2 is provided with a liquid inlet hole 20 and a liquid outlet hole 21.
  • the lubricant enters the diversion through the liquid inlet hole 20. After the gap is in contact with the contact end surface, it flows out through the liquid outlet hole 21 . In this way, the direct contact between the heat-dissipating component 1 and the lubricant can be used, so that the heat-dissipating component 1 absorbs the heat in the lubricant and then dissipates it to the outside of the body 100 .
  • the lubricant is diverted through the diversion gap, and a plurality of grooves 110 are arranged on the contact end surface, which increases the direct contact area between the lubricant and the heat dissipation component 1, and then the lubricant flows out through the liquid outlet hole 21, which improves the heat dissipation of the robot. efficiency.
  • spatially relative terms such as “on”, “over”, “on the surface”, “above”, etc., may be used herein to describe what is shown in the figures.
  • spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “above” or “over” other devices or features would then be oriented “below” or “over” the other devices or features under other devices or constructions”.
  • the exemplary term “above” can encompass both an orientation of "above” and “below.”
  • the device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种散热装置及具有其的机器人，其中，散热装置安装在机器人的机体(100)上，散热装置包括：散热部件(1)，安装在机体(100)上，散热部件(1)的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件(1)具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽(110)；限位部件(2)，限位部件(2)套设在散热部件(1)上并与散热部件(1)连接，限位部件(2)的内壁面与接触端面之间具有导流间隙，限位部件上设置有进液孔(20)和出液孔(21)，润滑剂通过进液孔(20)进入导流间隙内与接触端面接触后，通过出液孔(21)流出。该散热装置解决了相关技术中的散热装置对机器人的散热效率低的问题。

Description

散热装置及具有其的机器人
相关申请的交叉引用
本公开是以申请号为202011524115.2，申请日为2020年12月21日，发明名称为“散热装置及具有其的机器人”的中国专利申请为基础，并主张其优先权，该中国专利申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及机器人散热领域，具体而言，涉及一种散热装置及具有其的机器人。
背景技术
在水平四关节机器人领域中，高速化是其一直追求发展的方向，用低粘度的润滑油替换高粘度的润滑脂能够提升机器人关节中减速器的容许输入转速，但由于机器人关节较小，不容易在关节内实现润滑油的散热，因此会导致关节内温升较大以至于降低减速器的传动效率，从而阻碍机器人的速度提升。
现有的对机器人进行散热的装置，一般通过在基座上设置抽风机和过滤组件的方式，将基座内的热气抽出，室内冷空气通过进风口进入基座中，通过冷空气的流动使基座与外部空气进行热交换，进而达到基座散热的目的。
但是，现有的散热装置无法直接对减速器内的润滑剂进行散热，散热效率低，且需要额外增加动力源，即浪费能源，增加了机器人的结构复杂程度，又不能有效的提高减速器的传动效率。
发明内容
本公开的主要目的在于提供一种散热装置及具有其的机器人，以解决现有技术中的散热装置对机器人的散热效率低的问题。
为了实现上述目的，根据本公开的一个方面，提供了一种散热装置，安装在机器人的机体上，散热装置包括：散热部件，安装在机体上，散热部件的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽；限位部件，限位部件套设在散热部件上并与散热部件连接，限位部件的内壁面与接触端面之间具有导流间隙，限位部件上设置 有进液孔和出液孔，润滑剂通过进液孔进入导流间隙内与接触端面接触后，通过出液孔流出。
在一些实施例中，散热部件包括：连接本体，与机体连接；接触本体，与连接本体连接，限位部件套设在接触本体上，接触本体的至少部分与润滑剂接触，接触本体沿预定轨迹延伸以围成散热腔，接触端面设置在接触本体上，接触本体吸收润滑剂的热量后通过散热腔将热量散出。
在一些实施例中，多个凹槽沿接触本体的长度方向间隔设置。
在一些实施例中，接触端面上设置有螺纹槽，由接触本体的接触底部至接触本体的顶部，螺纹槽的槽深逐渐减小。
在一些实施例中，散热部件还包括：散热本体，设置在连接本体上，散热本体上设置有散热板，散热板朝向远离散热本体的方向凸出。
在一些实施例中，散热板设置在散热本体的安装端面上，散热板为多个，多个散热板沿散热本体的周向间隔设置，以在多个散热板之间围成与散热腔连通的流通空间。
在一些实施例中，流通空间的气流流通截面积大于散热腔的气流流通截面积。
在一些实施例中，进液孔为多个，多个进液孔沿周向间隔设置在限位部件的下部。
在一些实施例中，出液孔为多个，多个出液孔沿周向间隔设置在限位部件的上部。
根据本公开的另一方面，提供了一种机器人，包括散热装置和机体，散热装置的至少部分安装在机体上，散热装置为上述的散热装置。
应用本公开的技术方案，散热装置安装在机器人的机体上，其中，散热装置包括散热部件和限位部件，散热部件安装在机体上，散热部件的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽；限位部件套设在散热部件上并与散热部件连接，限位部件的内壁面与接触端面之间具有导流间隙，限位部件上设置有进液孔和出液孔，润滑剂通过进液孔进入导流间隙内与接触端面接触后，通过出液孔流出。这样设置能够利用散热部件与润滑剂的直接接触，使散热部件吸收润滑剂中的热量后散发至机体外，在机器人关节转动过程中，通过进液孔进入导流间隙内，以通过导流间隙对润滑剂进行导流，在接触端面上设置多个凹槽，增加了润滑剂与散热部件直接的接触面积，之后润滑剂通过出液孔，提高了机器人的散热效率。
附图说明
构成本申请的一部分的说明书附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1示出了根据本公开的散热装置的实施例的结构示意图；
图2示出了根据本公开的散热装置的散热部件的结构示意图；以及
图3示出了根据本公开的散热装置的散热部件与限位部件相互配合示意图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
本公开提供了一种散热装置，请参考图1至图3，安装在机器人的机体100上，散热装置包括：散热部件1，安装在机体100上，散热部件1的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件1具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽110；限位部件2，限位部件2套设在散热部件1上并与散热部件1连接，限位部件2的内壁面与接触端面之间具有导流间隙，限位部件2上设置有进液孔20和出液孔21，润滑剂通过进液孔20进入导流间隙内与接触端面接触后，通过出液孔21流出。
根据本公开提供的散热装置，安装在机器人的机体100上，其中，散热装置包括散热部件1和限位部件2，散热部件1安装在机体100上，散热部件1的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件1具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽110；限位部件2套设在散热部件1上并与散热部件1连接，限位部件2的内壁面与接触端面之间具有导流间隙，限位部件2上设置有进液孔20和出液孔21，润滑剂通过进液孔20进入导流间隙内与接触端面接触后，通过出液孔21流出。这样设置能够利用散热部件1与润滑剂的直接接触，使散热部件1吸收润滑剂中的热量后散发至机体100外，在机器人关节转动过程中，通过进液孔20进入导流间隙内，以通过导流间隙对润滑剂进行导流，在接触端面上 设置多个凹槽110，增加了润滑剂与散热部件1直接的接触面积，之后润滑剂通过出液孔21流出，提高了机器人的散热效率。
散热部件1包括：连接本体10，与机体100连接；接触本体11，与连接本体10连接，限位部件2套设在接触本体11上，接触本体11的至少部分与润滑剂接触，接触本体11沿预定轨迹延伸以围成散热腔12，接触端面设置在接触本体11上，接触本体11吸收润滑剂的热量后通过散热腔12将热量散出。这样设置能够通过接触本体11与润滑剂进行接触，之后通过散热腔12将吸收的热量散发出。
在本公开提供的实施例中，为了提高润滑剂与接触端面的接触面积，多个凹槽110沿接触本体11的长度方向间隔设置。这样在关节转动的过程中，润滑剂能够在凹槽110内流动，以对润滑剂进行导流。
接触端面上设置有螺纹槽，由接触本体11的接触底部至接触本体11的顶部，螺纹槽的槽深逐渐减小。这样设置使润滑剂能够沿着螺纹槽向上流动，从进液孔20至出液孔21的方向，使润滑剂具有足够的流动行程充分与接触端面接触，将热量传导至散热部件1上并由散热腔12将热量散出。
散热部件1还包括：散热本体13，设置在连接本体10上，散热本体13上设置有散热板130，散热板130朝向远离散热本体13的方向凸出。这样设置在接触本体11吸收润滑剂内的热量后，将一部分热量传导至散热本体13上，将散热本体13设置在连接本体10上，使散热本体13远离接触本体11，同时在散热本体13上设置散热板130，将热量传导至散热板130上，提高了散热效率。
散热板130设置在散热本体13的安装端面131上，散热板130为多个，多个散热板130沿散热本体13的周向间隔设置，以在多个散热板130之间围成与散热腔12连通的流通空间。这样设置能够避免散热板130对散热腔12进行遮挡，防止因对散热腔的遮挡而导致散热腔内的空气流通性差的问题，从而影响的散热腔内的散热效果。优选地，接触本体11的轴向截面为U型。散热部件1为铜管或者其他导热性能良好的金属材质。
在本公开提供的实施例中，流通空间的气流流通截面积大于散热腔12的气流流通截面积。
为了便于润滑剂流入导流间隙内，进液孔20为多个，多个进液孔20沿周向间隔设置在限位部件2的下部。在一些实施例中，出液孔21为多个，多个出液孔21沿周向间隔设置在限位部件2的上部。在实际应用过程中，机器人的关节在旋转时，会带 动散热装置进行旋转，接触本体11上的螺纹槽结构会对润滑剂进行导流，若关节臂的旋转方向与螺纹槽的螺纹旋向相同时，润滑剂会沿着螺纹向上流动，由于螺纹槽的深度逐渐减小，关节臂不必旋转整周也能使润滑剂在惯性作用下向上流动一段距离，当关节臂旋转角度足够大时，润滑油会流动到出液孔处流出，当关节臂旋转角度不够大时，润滑剂会随着关节臂的反向旋转沿着螺纹槽流通由进液孔流出，在流动期间，润滑剂的热量会传导至接触本体11上进而被散热腔和散热板130散出。
限位部件2上设置有连接翻边22，连接翻边22朝向远离限位部件2本体的方向延伸，限位部件2通过连接翻边22与散热部件1连接。
本公开提供了一种机器人，包括散热装置和机体100，散热装置的至少部分安装在机体100上，散热装置为上述实施例的散热装置。
在具体实施的过程中，机器人的机体上设置有安装槽，安装槽内设置有油封，散热部件与油封的密封唇接触，以保证关节的密封性能。在本公开提供的另一实施例中，安装槽内设置有密封圈，散热装置与密封圈压紧，以保证关节的密封性能。散热装置的接触本体11始终浸润在润滑剂的液面下方，以保证散热装置在随关节转动时能够一直将由进液孔进入的润滑油赋予动能，从而保证不断对减速器腔体内部的润滑油进行降温，不需要外部动力源即可对润滑剂进行散热，不会影响关节臂的运转和体积，也没有增加机器人的复杂程度。
从以上的描述中，可以看出，本公开上述的实施例实现了如下技术效果：
根据本公开提供的散热装置，安装在机器人的机体100上，其中，散热装置包括散热部件1和限位部件2，散热部件1安装在机体100上，散热部件1的至少部分伸入机器人的润滑剂内，以与润滑剂接触并吸收润滑剂的热量；散热部件1具有与润滑剂接触的接触端面，接触端面上设置有多个凹槽110；限位部件2套设在散热部件1上并与散热部件1连接，限位部件2的内壁面与接触端面之间具有导流间隙，限位部件2上设置有进液孔20和出液孔21，润滑剂通过进液孔20进入导流间隙内与接触端面接触后，通过出液孔21流出。这样设置能够利用散热部件1与润滑剂的直接接触，使散热部件1吸收润滑剂中的热量后散发至机体100外，在机器人关节转动过程中，通过进液孔20进入导流间隙内，以通过导流间隙对润滑剂进行导流，在接触端面上设置多个凹槽110，增加了润滑剂与散热部件1直接的接触面积，之后润滑剂通过出液孔21流出，提高了机器人的散热效率。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第 二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施方式例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (10)

  1. 一种散热装置，用于安装在机器人的机体(100)上，所述散热装置包括：
    散热部件(1)，被配置为安装在所述机体(100)上且所述散热部件(1)的至少部分伸入所述机器人的润滑剂内，以与所述润滑剂接触并吸收所述润滑剂的热量，所述散热部件(1)具有用于与所述润滑剂接触的接触端面，所述接触端面上设置有多个凹槽(110)；和
    限位部件(2)，所述限位部件(2)套设在所述散热部件(1)上并与所述散热部件(1)连接，所述限位部件(2)的内壁面与所述接触端面之间具有导流间隙，所述限位部件(2)上设置有进液孔(20)和出液孔(21)以使所述润滑剂通过所述进液孔(20)进入所述导流间隙内与所述接触端面接触后，通过所述出液孔(21)流出。
  2. 根据权利要求1所述的散热装置，其中，所述散热部件(1)包括：
    连接本体(10)，被配置为与所述机体(100)连接；和
    接触本体(11)，与所述连接本体(10)连接，所述限位部件(2)套设在所述接触本体(11)上，所述接触本体(11)的至少部分被配置为与所述润滑剂接触，所述接触本体(11)沿预定轨迹延伸以围成散热腔(12)，所述接触端面设置在所述接触本体(11)上，所述接触本体(11)被配置为吸收所述润滑剂的热量后通过所述散热腔(12)将热量散出。
  3. 根据权利要求2所述的散热装置，其中，多个所述凹槽(110)沿所述接触本体(11)的长度方向间隔设置。
  4. 根据权利要求2所述的散热装置，其中，所述凹槽(110)包括设置于所述接触端面上的螺纹槽，由所述接触本体(11)的底部至所述接触本体(11)的顶部，所述螺纹槽的槽深逐渐减小。
  5. 根据权利要求2至4中任一项所述的散热装置，其中，所述散热部件(1)还包括：
    散热本体(13)，设置在所述连接本体(10)上，所述散热本体(13)上设置有 散热板(130)，所述散热板(130)朝向远离所述散热本体(13)的方向凸出。
  6. 根据权利要求5所述的散热装置，其中，所述散热板(130)设置在所述散热本体(13)的安装端面(131)上，所述散热板(130)为多个，多个所述散热板(130)沿所述散热本体(13)的周向间隔设置，以在多个所述散热板(130)之间围成与所述散热腔(12)连通的流通空间。
  7. 根据权利要求6所述的散热装置，其中，所述流通空间的气流流通截面积大于所述散热腔(12)的气流流通截面积。
  8. 根据权利要求2至7中任一项所述的散热装置，其中，所述进液孔(20)为多个，多个所述进液孔(20)沿周向间隔设置在所述限位部件(2)的远离所述连接本体(10)的一端。
  9. 根据权利要求2至8中任一项所述的散热装置，其中，所述出液孔(21)为多个，多个所述出液孔(21)沿周向间隔设置在所述限位部件(2)的靠近所述连接本体(10)的一端。
  10. 一种机器人，包括散热装置和机体(100)，所述散热装置安装在所述机体(100)上，其中，所述散热装置为权利要求1至9中任一项所述的散热装置。
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