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US 11,890,753 B2Granted
Cooling medium flow path structure, cooler, robot, and method of mounting cooler to robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHiroaki Nodo, Ryoma Koretake
Life of this patent
Estimating the term…
Abstract
A cooling medium flow path structure is for use at a joint of a robot. The joint of the robot includes an N-th link and an N+1-th link. A tubular projection extends from a first wall constituting the N-th link, and a motor is located on the first wall. The cooling medium flow path structure is annularly or tubularly shaped such that an inner peripheral surface of the cooling medium flow path structure is located outside an outer peripheral surface of the motor. The cooling medium flow path structure includes an internal cooling medium flow path through which a cooling medium flows.
Claims13
A cooler comprising a cooling medium flow path structure for use at a joint of a robot, wherein the robot includes an N-th link, an N+1-th link, and a joint coupling the N-th and N+1-th links together,
- the N-th link includes a plate-shaped first wall,
- the N+1-th link includes a second wall coupled to the first wall,
- a motor is located on and in direct contact with the first wall,
- the cooling medium flow path structure is annularly or tubularly shaped around an open center,
- the cooling medium flow path structure is in contact with the first wall and surrounds a portion of a housing of the motor,
- the portion of the housing of the motor penetrates through the cooling medium flow path structure and into the open center,
- an inner peripheral surface of the cooling medium flow path structure is located outside an outer peripheral surface of the motor,
- the cooling medium flow path structure includes an internal cooling medium flow path through which a cooling medium flows, and
- the cooler further comprises:
- a cooling medium circulation path connected to the cooling medium flow path structure and configured to connect with at least one of a radiator, a feeder, and a fan.
7 more elements
A method of mounting a cooler for use at a joint of a robot, wherein
- the robot includes an N-th link, an N+1-th link, and a joint coupling the N-th and N+1-th links together,
- the N-th link includes a plate-shaped first wall,
- the N+1-th link includes a second wall coupled to the first wall,
- a tubular projection extends from a first wall surface of the first wall, the first wall surface facing away from the N+1-th link,
- a motor is located on the first wall surface in direct contact with the first wall surface and inside the projection,
- a reduction gear is located on a second wall surface of the first wall, the second wall surface facing the N+1-th link,
- the cooler includes:
- a cooling medium flow path structure that is annularly or tubularly shaped around an open center and includes an internal cooling medium flow path through which a cooling medium flows;
- a cooling medium circulation path connected to the cooling medium flow path structure;
- a radiator;
- a feeder;
- a fan;
- and a support base,
- the radiator and the feeder are located in the cooling medium circulation path, and
- the fan cools the radiator with air,
- the method comprising:
- mounting the radiator, the feeder, and the fan to the support base;
- passing a portion of a housing of the motor through the open center of the cooling medium flow path structure to bring the cooling medium flow path structure into contact with the first wall surface of the first wall so that the portion of the housing of the motor penetrates through the open center of the cooling medium flow path structure and the cooling medium flow path structure surrounds the portion of the housing of the motor;
- mounting the support base with the radiator, the feeder, and the fan to a main body of the N-th link and/or the motor;
- and
- connecting the cooling medium flow path structure, the radiator, and the feeder to one another through the cooling medium circulation path.
18 more elements
A method of mounting a cooler for use at a joint of a robot, wherein
- the robot includes an N-th link, an N+1-th link, and a joint coupling the N-th and N+1-th links together,
- the N-th link includes a plate-shaped first wall,
- the N+1-th link includes a second wall coupled to the first wall,
- a tubular projection extends from a first wall surface of the first wall, the first wall surface facing away from the N+1-th link,
- a motor is located on the first wall surface in direct contact with the first wall surface and inside the projection,
- a reduction gear is located on a second wall surface of the first wall, the second wall surface facing the N+1-th link,
- the cooler includes:
- a cooling medium flow path structure that is annularly or tubularly shaped around an open center and includes an internal cooling medium flow path through which a cooling medium flows;
- a cooling medium circulation path connected to the cooling medium flow path structure;
- a radiator;
- a feeder;
- a fan;
- and a support base,
- the radiator and the feeder are located in the cooling medium circulation path, and
- the fan cools the radiator with air,
- the method comprising:
- passing a portion of a housing of the motor through the open center of the cooling medium flow path structure to bring the cooling medium flow path structure into contact with the first wall surface of the first wall so that the portion of the housing of the motor penetrates through the open center of the cooling medium flow path structure and the cooling medium flow path structure surrounds the portion of the housing of the motor;
- mounting the support base to a main body of the N-th link and/or the motor;
- mounting the radiator, the feeder, and the fan to the support base;
- and
- connecting the cooling medium flow path structure, the radiator, and the feeder to one another through the cooling medium circulation path.
18 more elements
Dependencies are inferred from the claim text.