Leg structure and robot

Abstract

The invention discloses a leg structure and a robot, the leg structure comprises a motor assembly, a leg rod part and a heat dissipation module, the heat dissipation module at least comprises a fan and a wind scooper, the first side wall of the leg rod part is provided with a first containing groove and a first air opening, and the first containing groove is communicated with the first air opening; the motor assembly is arranged on the first side wall, a driving motor in the motor assembly is arranged on the first side wall, the leg rod part is provided with a hollow cavity, the first air opening is communicated with the first containing groove through the hollow cavity, and the first containing groove is used for containing the fan; the air guide cover is provided with a first air opening and a second air opening, the air guide cover is connected to the first side wall of the leg rod part, the driving motor and the fan are covered with the air guide cover, and the air guide cover is used for guiding airflow generated by the fan to flow between the first air opening and the second air opening. According to the technical scheme provided by the invention, efficient heat dissipation can be carried out on the leg motor.

Description

Technical Field

[0001] The present application relates to the technical field of robot equipment, and in particular to a leg structure and a robot. Background Art

[0002] With the continuous development of robot technology, multi-legged robots have been widely used in various fields. Most multi-legged robots rely on motor components installed in the legs to drive the robot to move. When the motor components are running, the motor components will generate a lot of heat. If the heat cannot be effectively dissipated, the motor components will fail or even be damaged, thus affecting the normal operation of the robot.

[0003] Most existing heat dissipation solutions involve adding fins to the outer circumference of the motor assembly and then using natural heat dissipation to cool the motor assembly. However, this heat dissipation method has a very low cooling efficiency.

[0004] Therefore, how to design an efficient leg motor heat dissipation solution has become a problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present application is to provide a leg structure and a robot that can efficiently dissipate heat from leg motors.

[0006] To achieve the above-mentioned objectives, on the one hand, the present application provides a leg structure, which includes a motor assembly, a leg rod portion and a heat dissipation module, and the heat dissipation module includes at least a fan and an air guide cover, wherein a first accommodating groove and a first air outlet are provided on the first side wall of the leg rod portion, and the driving motor in the motor assembly is arranged on the first side wall, and the leg rod portion has a hollow cavity, and the first air outlet and the first accommodating groove are connected through the hollow cavity, wherein the first accommodating groove is used to place the fan; the air guide cover is provided with a second air outlet, and the air guide cover is connected to the first side wall of the leg rod portion, and the driving motor and the fan are covered by the air guide cover, and the air guide cover is used to guide the airflow generated by the fan to flow between the first air outlet and the second air outlet.

[0007] Furthermore, the leg rod portion has an upper and lower position, wherein the first accommodating groove and the first air outlet are distributed in sequence from top to bottom.

[0008] Furthermore, the wind guide cover includes a first wind cover and a second wind cover, wherein the first wind cover and the second wind cover are both connected to the first side wall of the leg rod portion, and the fan is located within the coverage range of the first wind cover, and the second air outlet is located on the second wind cover; the first wind cover and the second wind cover are aligned and fixed, and the structure formed by assembling the first wind cover and the second wind cover has an annular cavity, the drive motor is arranged in the annular cavity, and there is a first gap between the annular outer wall of the drive motor and the annular cavity.

[0009] Furthermore, the first wind shield includes an annular portion and an extending portion, wherein the annular portion and the extending portion transition smoothly so that the inner wall of the first wind shield has a streamlined structure.

[0010] Furthermore, the second wind shield is a semi-annular wall, and a plurality of holes are formed on the semi-annular wall to form the second air outlet; the second wind shield is connected to the annular portion to form the annular cavity, and the annular cavity defines an air flow passage.

[0011] Furthermore, the heat dissipation module also includes a heat conductive plate, wherein the outer wall of the end plate of the drive motor and the drive plate in the motor assembly are respectively abutted against two sides of the heat conductive plate, and the heat conductive plate is used to conduct the heat generated by the drive plate to the outer wall of the end plate of the drive motor.

[0012] Furthermore, the heat-conducting plate includes a plate body, a support frame and a heat-conducting frame, wherein the plate body is roughly circular, and an electrical hole is provided in the middle of the plate body, and the electrical hole is used to accommodate cables led out from the drive plate and / or the drive motor; the support frame and the heat-conducting frame are respectively located on both sides of the plate body, the support frame is used to support and fix the drive plate, and the heat-conducting frame is used to abut against the outer wall of the end plate.

[0013] Further, the cross-sectional shape of the disk body is adapted to the cross-sectional shape of the annular cavity, so that the outer edge of the disk body abuts against the inner wall of the first wind shield and the inner wall of the second wind shield at the same time.

[0014] Furthermore, the heat-conducting frame is arranged in a ring shape around the electrical hole and extends axially outward along the disk body to form an annular wall structure; a plurality of air ducting holes are opened on the heat-conducting frame, and the air ducting holes are used to guide the gas in the annular cavity to pass through the heat-conducting frame, and the air ducting holes are connected to the second air outlet.

[0015] Furthermore, the heat dissipation module also includes a sealing sleeve, which is sleeved in the electrical hole and is used to prevent the gas in the annular cavity from entering the electrical hole through the air duct hole.

[0016] Furthermore, the sealing sleeve is an elastomer, and has a penetrating circular opening. When the sealing sleeve is sleeved in the electrical hole, the cables led out from the drive plate and / or the drive motor pass through the circular opening.

[0017] Furthermore, the sealing sleeve has an annular portion, a first sealing portion and a second sealing portion, wherein the annular portion constitutes the circular opening, and the first sealing portion and the second sealing portion are respectively connected to the end surfaces on both sides of the circular opening; when the sealing sleeve is sleeved in the electrical hole, the center line of the circular opening roughly coincides with the center line of the electrical hole, and one side end surface of the electrical hole is pressed and sealed with the first sealing portion, and one side end surface of the heat conductive frame facing the outer wall of the end plate is pressed and sealed with the second sealing portion.

[0018] Furthermore, the first sealing portion and the second sealing portion respectively extend radially outwardly of the annular portion by a specified distance, so that when the sealing sleeve is sleeved in the electrical hole, an annular gap exists between the outer wall surface of the annular portion and the heat-conducting frame.

[0019] Furthermore, the first air outlet is an air inlet, the second air outlet is an air outlet, the fan is an axial flow fan, and the exhaust direction of the fan is toward the inner wall of the first air cover.

[0020] Furthermore, a filter screen is provided at the first air outlet and / or the second air outlet.

[0021] To achieve the above objectives, the present application provides a robot on the other hand, wherein the robot comprises the leg structure described in any of the above schemes.

[0022] It can be seen that the technical solution provided by the present application, the leg structure includes a motor assembly, a leg rod and a heat dissipation module. The heat dissipation module is mainly composed of a fan and an air guide cover, a first accommodating groove and a first air outlet are provided on the leg rod, the motor assembly is arranged on the leg rod, and the first accommodating groove is used to place the fan. The leg rod also has a hollow cavity for realizing the connection between the first air outlet and the first accommodating groove, so as to ensure that air can flow inside the leg structure. Further, the air guide cover covers the motor assembly and the fan at the same time, and restricts the motor assembly and the fan in the same air flow channel. The air guide cover can guide the airflow generated by the fan to flow between the first air outlet and the second air outlet, so as to maximize the use and guide of the airflow to improve the heat dissipation efficiency of the fan, thereby enhancing the heat dissipation performance of the entire leg structure. Through the cooperation of the fan and the air guide cover, the leg motor can be efficiently cooled, thereby effectively reducing the operating temperature of the motor assembly and extending its service life. At the same time, installing the fan and motor assembly inside the leg rod can also minimize the cantilever length, thereby reducing the hip joint motor torque, which can make the leg structure more compact and save space. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is an exploded view of a leg structure in an embodiment provided by the present application;

[0025] Figure 2 is a three-dimensional structural schematic diagram of a leg structure in an embodiment provided by the present application;

[0026] Figure 3 is a cross-sectional view of a leg structure in an embodiment provided by the present application;

[0027] Figure 4 is a schematic diagram of the three-dimensional structure of a heat conducting plate in an embodiment provided by the present application;

[0028] Figure 5 It is a side view of a heat conducting plate in one embodiment provided in the present application. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Terms such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end" used in the present application to represent spatial relative positions are used to describe the relationship between a unit or feature as shown in the accompanying drawings relative to another unit or feature for the purpose of convenience of explanation. Terms of spatial relative position may be intended to include different orientations of the device in use or work other than the orientation shown in the figure. For example, if the device in the figure is turned over, the unit described as being "below" or "below" other units or features will be located "above" other units or features. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatially related descriptors used herein are interpreted accordingly.

[0030] In addition, the terms "installed", "set", "provided with", "connected", "slidingly connected", "fixed", and "sleeved" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] With the continuous development of robot technology, multi-legged robots have been widely used in various fields. Most multi-legged robots rely on motor components installed in the legs to drive the robot to move. When the motor components are running, the motor components will generate a lot of heat. If the heat cannot be effectively dissipated, the motor components will fail or even be damaged, thus affecting the normal operation of the robot.

[0032] For motor heat dissipation, one solution is to put a sponge absorbent layer on the outer circle of the motor and dissipate heat by water evaporation. This method uses the cooling effect of water evaporation to absorb heat, but its efficiency is low and water needs to be replenished regularly. Another solution is to add heat dissipation equipment, such as fans and heat dissipation fins, between the leg motors. By using these devices, airflow circulation can be enhanced and heat dissipation efficiency can be improved. However, due to the addition of heat dissipation equipment, the waterproof performance of the leg structure will be affected, and the heat dissipation equipment will increase the cantilever length, which will increase the torque of the hip joint motor. In addition, due to space limitations, high-power fans cannot be set between the motors, and the fans cannot generate enough air volume. Therefore, this solution has the problems of complex structure and low heat dissipation performance. Another solution is to add fins to the outer circle of the motor assembly and then use natural heat dissipation to cool the motor assembly, but this heat dissipation method has low cooling efficiency and cannot meet the needs of efficient heat dissipation.

[0033] Therefore, how to improve the heat dissipation structure of the legs so as to efficiently dissipate the heat of the leg motors has become an issue that needs to be urgently addressed in this field.

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in this application are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0035] Please also see Figures 1 to 5 As shown, in an achievable embodiment, the leg structure includes a motor assembly, a leg rod portion 2 and a heat dissipation module, wherein the heat dissipation module includes at least a fan 31 and an air guide hood 32. A first accommodating groove 23 and a first air outlet 24 are provided on the first side wall 21 of the leg rod portion 2, and the first accommodating groove 23 can be used to place the fan 31. The drive motor 11 in the motor assembly can be arranged on the first side wall 21 of the leg rod portion 2, and the drive motor 11 is used to drive the leg movement. Specifically, a second accommodating groove 22 can be provided on the first side wall 21 of the leg rod portion 2, and then the drive motor 11 is placed in the above-mentioned second accommodating groove 22. Of course, the drive motor 11 can also be directly fixed on the surface of the first side wall 21, and the present application does not limit this. In practical applications, in order to improve the strength of the leg rod portion 2, the leg rod portion 2 can be made of metal material. Further, in order to reduce the weight of the leg rod portion 2, the leg rod portion 2 can adopt a hollow structure. Specifically, the leg rod 2 can be formed by splicing two shells, and when the two shells are spliced ​​together, a hollow cavity 25 can be formed inside. Optionally, in order to strengthen the strength of the leg rod 2, a plurality of reinforcing rods can be arranged inside the hollow cavity 25 to prevent the hollow cavity 25 from deforming.

[0036] In this embodiment, the first air outlet 24 and the first receiving groove 23 are both connected to the hollow cavity 25, so that the first air outlet 24 and the first receiving groove 23 can be connected together by the hollow cavity 25. Using the above structure, air and other fluids can flow from the first air outlet 24 to the first receiving groove 23, and can also flow from the first receiving groove 23 to the first air outlet 24. The present application uses the hollow cavity 25 inside the leg rod 2 as a fluid channel, which can make the entire leg structure more compact and can also make the fan 31 as close to the center of mass of the leg rod 2 as possible, thereby reducing the influence of the fan 31 on its movement process when the leg rod 2 moves.

[0037] The air guide cover 32 is connected to the first side wall 21 of the leg rod 2, and a second air outlet 33 is provided on the air guide cover 32. In practical applications, the air guide cover 32 can be made of materials such as plastic, and then fixed to the first side wall 21 of the leg rod 2 by bolts or buckles. The shape and size of the air guide cover 32 can be set according to the structure of the drive motor 11 and the fan 31 to ensure that after the air guide cover 32 is fixed to the first side wall 21 of the leg rod 2, the air guide cover 32 can cover the drive motor 11 and the fan 31 at the same time, that is, the drive motor 11 and the fan 31 are both located inside the air guide cover 32. The air guide cover 32 can guide the airflow generated by the fan 31 to flow between the first air outlet 24 and the second air outlet 33. Specifically, since the second air outlet 33 is provided on the air guide cover 32, and the air guide cover 32 can be connected with the hollow cavity 25 through the first receiving groove 23, the second air outlet 33, the air guide cover 32, the first receiving groove 23, the hollow cavity 25 and the first air outlet 24 can together constitute a complete air flow channel. When the fan 31 is working, the outside air can enter the above-mentioned air flow channel from the first air outlet 24, and finally be discharged from the second air outlet 33. Of course, according to the exhaust direction of the fan 31, the outside air can also enter the above-mentioned air flow channel from the second air outlet 33, and finally be discharged from the first air outlet 24.

[0038] Since the drive motor 11 is located inside the air guide cover 32, when the air flows in the air flow channel, the heat generated by the drive motor 11 can be taken away by the air, thereby achieving the effect of cooling the drive motor 11. At the same time, the air guide cover 32 can also concentrate the airflow in the air flow channel around the drive motor 11 as much as possible, so that the airflow directly blows on the drive motor 11 in a straight line or a nearly straight line, so as to further improve the heat dissipation effect.

[0039] For the convenience of description, the present application assigns the upper and lower positions to the leg rod part 2. Figure 2Taking the viewing angle as a reference, the second accommodating groove 22, the first accommodating groove 23 and the first air outlet 24 are distributed in sequence from top to bottom. The shape of the second accommodating groove 22 is adapted to the outer contour of the drive motor 11, and a plurality of grooves 221 may be provided on the inner wall of the second accommodating groove 22. The plurality of grooves 221 may cooperate with the plurality of ribs 111 on the outer shell of the drive motor 11. When the drive motor 11 is assembled in the second accommodating groove 22, the ribs 111 may be snapped into the grooves 221 to prevent the drive motor 11 from shaking in the second accommodating groove 22. It should be pointed out that the first accommodating groove 23 may be as close to the second accommodating groove 22 as possible while ensuring that the drive motor 11 does not interfere with the operation of the fan 31. In this way, after the fan 31 is assembled in the first accommodating groove 23, the fan 31 may be as close to the drive motor 11 as possible, thereby reducing the influence on the output torque of the drive motor 11.

[0040] In order to increase the air flux of the air flow channel, a plurality of tiny holes can be opened on the first side wall 21 of the leg rod portion 2 to form a first air outlet 24, and the shape of the above-mentioned holes can be circular or strip-shaped. The above-mentioned multiple tiny holes are densely arranged, which can not only increase the total area of ​​the first air outlet 24, thereby increasing the air flux of the air flow channel, but also prevent large particles such as stone seeds from entering the air flow channel, thereby improving the adaptability of the leg structure in harsh environments. Furthermore, in order to prevent fine debris such as dust from entering the air flow channel through the first air outlet 24, a filter net can also be set at the first air outlet 24. In this way, when the outside air is sucked into the air flow channel through the first air outlet 24, the above-mentioned filter net can filter the air, thereby further improving the adaptability of the leg structure in harsh environments.

[0041] In a feasible implementation, the wind guide cover 32 can be formed by splicing two independent parts. Specifically, the wind guide cover 32 can be designed in sections. For example, when manufacturing the wind guide cover 32, it can be first divided into two independent parts, the first wind cover 321 and the second wind cover 322, and after the first wind cover 321 and the second wind cover 322 are manufactured, the first wind cover 321 and the second wind cover 322 are aligned and fixed to form the wind guide cover 32. In practical applications, the first wind cover 321 and the second wind cover 322 can be connected by bolts, or by quick connection methods such as snaps.

[0042] In this embodiment, the first wind shield 321 and the second wind shield 322 are both connected to the first side wall 21 of the leg rod 2, and when the first wind shield 321 is fixed to the first side wall 21 of the leg rod 2, the first wind shield 321 can cover the fan 31, so that the fan 31 is located within the coverage of the first wind shield 321. At the same time, the second air outlet 33 can be provided on the second wind shield 322. In the actual assembly process, the technician can first install the drive motor 11 in the second receiving groove 22, and then install the fan 31 in the first receiving groove 23, and then align the first wind shield 321 and the second wind shield 322, and fix them to the first side wall 21 of the leg rod 2.

[0043] Furthermore, when the drive motor 11 is a cylindrical motor, the shapes of the first wind shield 321 and the second wind shield 322 can be adaptively designed, so that when the first wind shield 321 and the second wind shield 322 are assembled together, an annular cavity 323 can be formed between the two, and the drive motor 11 is just set in the annular cavity 323, and there is a first gap between the annular outer wall 112 of the drive motor 11 and the annular cavity 323. The above-mentioned first gap can make the airflow generated by the fan 31 flow along the annular outer wall 112 to efficiently dissipate heat for the drive motor 11. At the same time, the annular cavity 323 extends along the annular outer wall 112 of the drive motor 11, and the volume occupied by the annular cavity 323 can be minimized to improve the compactness of the leg structure.

[0044] In a feasible embodiment, the first wind hood 321 includes an annular portion 3211 and an extension portion 3212, wherein, in order to reduce the resistance encountered by the gas when moving in the first wind hood 321, a smooth transition is provided between the annular portion 3211 and the extension portion 3212 so that the inner wall of the first wind hood 321 has a streamlined structure.

[0045] The second wind shield 322 can be constructed as a semi-circular thin-walled structure to reduce the weight of the second wind shield 322. Further, in order to increase the air flux of the air flow channel, a plurality of tiny holes can be opened on the semi-circular thin-walled structure to form a second air outlet 33, and the shape of the holes can be circular or strip-shaped. The dense arrangement of the plurality of tiny holes can not only increase the total area of ​​the second air outlet 33, thereby increasing the air flux of the air flow channel, but also prevent large particles such as stone seeds from entering the air flow channel, thereby improving the adaptability of the leg structure in harsh environments. Further, in order to prevent fine debris such as dust from entering the air flow channel through the second air outlet 33, a filter net can also be set at the second air outlet 33. In this way, when the outside air is sucked into the air flow channel through the second air outlet 33, the filter net can filter the air, thereby further improving the adaptability of the leg structure in harsh environments.

[0046] A docking groove 3221 is provided on the docking end face of the second wind hood 322, and the docking groove 3221 is used to dock with the docking tongue (not shown) on the annular portion 3211, so as to fix the second wind hood 322 and the annular portion 3211 together. When the second wind hood 322 and the annular portion 3211 are fixed together, an annular cavity 323 can be formed therebetween, and the annular cavity 323 can limit the air flow passage to ensure that the airflow in the airflow passage can flow along the annular outer wall 112 of the drive motor 11.

[0047] In practical applications, the motor assembly usually also includes a drive board 12, which is mainly used to control the operation of the drive motor 11. The drive board 12 can receive instructions from the control system and realize the forward, reverse, acceleration, deceleration and other functions of the drive motor 11 by applying appropriate voltage and current to the drive motor 11. The drive board 12 can also monitor the state of the drive motor 11, such as speed, temperature, etc., and perform protection control as needed. The drive board 12 will generate a lot of heat when working, so it is necessary to dissipate the heat of the drive board 12 to ensure that the drive board 12 can work normally.

[0048] In an achievable embodiment, the heat dissipation module further includes a heat conducting plate 33. The heat conducting plate 33 is disposed between the drive motor 11 and the drive plate 12. Specifically, the end plate outer wall 113 of the drive motor 11 and the drive plate 12 are respectively abutted against two sides of the heat conducting plate 33. The heat conducting plate 33 can be made of a metal material with good thermal conductivity, which can conduct the heat generated by the drive plate 12 to the end plate outer wall 113 of the drive motor 11, and further conduct the heat from the end plate outer wall 113 of the drive motor 11 to the annular outer wall 112 of the drive motor 11, and finally the heat generated by the drive plate 12 can be taken away by the airflow flowing in the airflow channel.

[0049] Optionally, thermal grease may be applied between the heat conducting plate 33 and the outer wall 113 of the end plate, and between the heat conducting plate 33 and the driving plate 12 to further improve the efficiency of heat conduction.

[0050] In an achievable embodiment, the heat-conducting disk 33 includes a disk body 331, a support frame 332 and a heat-conducting frame 333. The disk body 331 is roughly circular, and an electrical hole 334 is provided in the middle of the disk body 331, and the electrical hole 334 is used to accommodate the cables led out from the drive plate 12 and / or the drive motor 11. The support frame 332 and the heat-conducting frame 333 are respectively located on both sides of the disk body 331, and the disk body 331, the support frame 332 and the heat-conducting frame 333 can be designed as an integrated unit, or can be combined as three independent components, which is not limited in this application. A support structure such as a tray is provided on the support frame 332 to support and fix the drive plate 12. The heat-conducting frame 333 is used to abut against the outer wall 113 of the end plate of the drive motor 11 to quickly transfer the heat generated by the drive plate 12 to the outer wall 113 of the end plate.

[0051] Furthermore, the cross-sectional shape of the disk body 331 is adapted to the cross-sectional shape of the annular cavity 323, so that after the heat-conducting disk 33 is assembled in the air guide cover 32, the outer edge of the disk body 331 can abut against the inner wall of the first air cover 321 and the inner wall of the second air cover 322 at the same time, so that the disk body 331 can divide the annular cavity 323 into two cavities. Since the drive motor 11 and the drive plate 12 are respectively located on both sides of the disk body 331, the drive motor 11 and the drive plate 12 will be respectively located in the above-mentioned two cavities. The present application uses the disk body 331 to divide the annular cavity 323 into two cavities, mainly for the subsequent waterproof design of the drive plate 12, which will be described in detail later.

[0052] In an achievable implementation, the heat-conducting frame 333 is constructed as follows: it is arranged in an annular shape around the electrical hole 334, and extends axially outward along the disk body 331 to form an annular wall structure. In order to increase the contact area between the heat-conducting frame 333 and the end plate outer wall 113, the inner wall of the heat-conducting frame 333 can be close to the edge of the electrical hole 334, and the outer wall of the heat-conducting frame 333 can be as close to the outer edge of the disk body 331 as possible. This structure can maximize the radial dimension of the heat-conducting frame 333, so as to maximize the contact area between the heat-conducting frame 333 and the end plate outer wall 113.

[0053] Furthermore, in order to improve the heat dissipation efficiency, a plurality of air inlet holes 3331 may be provided on the heat conducting frame 333, and the air inlet holes 3331 penetrate the heat conducting frame 333 and communicate with the second air port 33, so that a gas passage may be formed between the air inlet holes 3331 and the second air port 33, and air may flow in the gas passage. The air inlet holes 3331 may guide the gas in the annular cavity 323 to pass through the heat conducting frame 333, thereby taking away the heat accumulated in the heat conducting frame 333.

[0054] In the above embodiment, the outside air can enter the electrical hole 334 through the air duct hole 3331 and directly contact the driving board 12. However, in the actual environment, the outside air may contain a certain amount of moisture, and there are a large number of exposed electrical components on the driving board 12. If these exposed electrical components come into contact with moisture, they may fail. For this reason, the driving board 12 needs to be designed to be waterproof.

[0055] In an achievable embodiment, the heat dissipation module further includes a sealing sleeve 34, wherein the sealing sleeve 34 can be sleeved in the electrical hole 334. The cross-sectional shape of the sealing sleeve 34 matches the cross-sectional shape of the electrical hole 334. When the sealing sleeve 34 is sleeved in the electrical hole 334, it can seal the electrical hole 334 in the radial direction, thereby preventing the gas in the annular cavity 323 from entering the electrical hole 334 through the air ducting hole 3331. The specific structure of the sealing sleeve 34 can refer to connectors such as rubber elastic joints and flexible pipe joints. Accordingly, the connection method between the sealing sleeve 34 and the electrical hole 334 can be set according to the structure of the sealing sleeve 34. For example, when the sealing sleeve 34 adopts a flexible pipe joint structure, the sealing sleeve 34 and the electrical hole 334 can be connected together by a clamp; when the sealing sleeve 34 adopts a rubber elastic joint structure, the sealing sleeve 34 and the electrical hole 334 can be connected together by a nested structure.

[0056] Optionally, the sealing sleeve 34 is an elastic body, for example, the sealing sleeve 34 can be made of rubber materials such as perfluororubber, polytetrafluoroethylene, etc., so that when the sealing sleeve 34 is subjected to external force due to the movement of the leg structure, the sealing sleeve 34 can be deformed to play a role in displacement compensation, so that the sealing sleeve 34 can always seal the electrical hole 334. It should be noted that the sealing sleeve 34 is provided with a penetrating circular opening 341. When the sealing sleeve 34 is sleeved in the electrical hole 334, the cables led out from the drive plate 12 and / or the drive motor 11 can pass through the above circular opening 341.

[0057] In a feasible embodiment, the sealing sleeve 34 has an annular portion 342, a first sealing portion 343 and a second sealing portion 344, wherein the annular portion 342 is a cylindrical shape with a hole in the middle, which constitutes a circular opening 341 on the sealing sleeve 34, and the first sealing portion 343 and the second sealing portion 344 are respectively connected to both sides of the annular portion 342, that is, the first sealing portion 343 and the second sealing portion 344 are respectively connected to both side end surfaces of the circular opening 341. Further, when the sealing sleeve 34 is sleeved in the electrical hole 334, the center line of the circular opening 341 is roughly coincident with the center line of the electrical hole 334, and one side end surface of the electrical hole 334 is pressed and sealed with the first sealing portion 343, and one side end surface of the heat conducting frame 333 facing the end plate outer wall 113 is pressed and sealed with the second sealing portion 344. That is, the sealing sleeve 34 is nested on the heat conducting plate 33 and seals the radial direction of the electrical hole 334 , and the circular opening 341 serves as the electrical hole 334 for accommodating the cables led out from the driving plate 12 and / or the driving motor 11 .

[0058] Optionally, the first sealing portion 343 and the second sealing portion 344 extend radially outwardly by a predetermined distance along the annular portion 342, that is, the first sealing portion 343 and the second sealing portion 344 protrude from the outer wall surface of the annular portion 342, so that when the sealing sleeve 34 is sleeved in the electrical hole 334, an annular gap can be formed between the annular portion 342 and the heat-conducting frame 333, and the annular gap can ensure that each air-inducing hole 3331 is connected to each other. In this way, the gas in the annular cavity 323 can still freely enter and exit each air-inducing hole 3331, thereby taking away the heat accumulated in the heat-conducting frame 333.

[0059] Optionally, the first air port 24 is an air inlet, the second air port 33 is an air outlet, the fan 31 is an axial flow fan, and the exhaust direction of the fan 31 is toward the inner wall of the first air cover 321. After the outside air is introduced into the hollow cavity 25 by the fan 31, its flow direction can be referred to Figure 3 The direction of the arrow.

[0060] Based on the same inventive concept, the present application also provides a robot, which includes at least one leg structure, which provides support for the robot's walking. The specific structure can refer to the content in the above embodiment and will not be repeated here.

[0061] It can be seen that the technical solution provided by the present application, the leg structure includes a motor assembly, a leg rod and a heat dissipation module. The heat dissipation module is mainly composed of a fan and an air guide cover, a first accommodating groove and a first air outlet are provided on the leg rod, the motor assembly is arranged on the leg rod, and the first accommodating groove is used to place the fan. The leg rod also has a hollow cavity for realizing the connection between the first air outlet and the first accommodating groove, so as to ensure that air can flow inside the leg structure. Further, the air guide cover covers the motor assembly and the fan at the same time, and restricts the motor assembly and the fan in the same air flow channel. The air guide cover can guide the airflow generated by the fan to flow between the first air outlet and the second air outlet, so as to maximize the use and guide of the airflow to improve the heat dissipation efficiency of the fan, thereby enhancing the heat dissipation performance of the entire leg structure. Through the cooperation of the fan and the air guide cover, the leg motor can be efficiently cooled, thereby effectively reducing the operating temperature of the motor assembly and extending its service life. At the same time, installing the fan and motor assembly inside the leg rod can also minimize the cantilever length, thereby reducing the hip joint motor torque, which can make the leg structure more compact and save space.

[0062] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A leg structure, characterized in that: The leg structure includes a motor assembly, a leg rod and a heat dissipation module, and the heat dissipation module includes at least a fan and an air guide cover, wherein: A first accommodating groove and a first air outlet are provided on the first side wall of the leg rod portion, and the driving motor in the motor assembly is provided on the first side wall, the leg rod portion has a hollow cavity, the first air outlet and the first accommodating groove are communicated through the hollow cavity, wherein the first accommodating groove is used to place the fan; The wind guide cover is provided with a second air outlet, the wind guide cover is connected to the first side wall of the leg rod part, and the driving motor and the fan are covered by the wind guide cover, and the wind guide cover is used to guide the airflow generated by the fan to flow between the first air outlet and the second air outlet.

2. The leg structure according to claim 1, characterized in that: The leg rod portion has an upper and lower orientation, wherein the first accommodating groove and the first air outlet are distributed in sequence from top to bottom.

3. The leg structure according to claim 2, characterized in that: The wind guide cover includes a first wind cover and a second wind cover, wherein: The first wind shield and the second wind shield are both connected to the first side wall of the leg rod, and the fan is located within the coverage of the first wind shield, and the second air outlet is located on the second wind shield; The first wind hood and the second wind hood are aligned and fixed, and the structure formed by assembling the first wind hood and the second wind hood has an annular cavity, the drive motor is sleeved in the annular cavity, and there is a first gap between the annular outer wall of the drive motor and the annular cavity.

4. The leg structure according to claim 3, characterized in that: The first wind shield includes an annular portion and an extending portion, wherein the annular portion and the extending portion are smoothly transitioned to make the inner wall of the first wind shield have a streamlined structure.

5. The leg structure according to claim 4, characterized in that: The second wind shield is a semi-circular wall, and a plurality of holes are opened on the semi-circular wall to form the second wind outlet; The second wind shield is connected to the annular portion to form the annular cavity, and the annular cavity defines an air flow passage.

6. The leg structure according to claim 5, characterized in that: The heat dissipation module also includes a heat conducting plate, wherein the outer wall of the end plate of the drive motor and the drive plate in the motor assembly are respectively abutted against two sides of the heat conducting plate, and the heat conducting plate is used to conduct the heat generated by the drive plate to the outer wall of the end plate of the drive motor.

7. The leg structure according to claim 6, characterized in that: The heat conducting plate comprises a plate body, a support frame and a heat conducting frame, wherein: The disk body is substantially circular, and an electrical hole is provided in the middle of the disk body, and the electrical hole is used to accommodate cables led out from the drive board and / or the drive motor; The support frame and the heat-conducting frame are respectively located at two sides of the disk body, the support frame is used to support and fix the driving plate, and the heat-conducting frame is used to abut against the outer wall of the end plate.

8. The leg structure according to claim 7, characterized in that: The cross-sectional shape of the disk body is matched with the cross-sectional shape of the annular cavity, so that the outer edge of the disk body abuts against the inner wall of the first wind shield and the inner wall of the second wind shield at the same time.

9. The leg structure according to claim 8, characterized in that: The heat-conducting frame is arranged in a ring shape around the electrical hole and extends axially outward along the disk body to form an annular wall structure; The heat-conducting frame is provided with a plurality of air inlet holes, the air inlet holes are used to guide the gas in the annular cavity to pass through the heat-conducting frame, and the air inlet holes are communicated with the second air outlet.

10. The leg structure according to claim 9, characterized in that: The heat dissipation module also includes a sealing sleeve, which is sleeved in the electrical hole and is used to prevent the gas in the annular cavity from entering the electrical hole through the air duct hole.

11. The leg structure according to claim 10, characterized in that: The sealing sleeve is an elastomer and has a penetrating circular opening. When the sealing sleeve is sleeved in the electrical hole, the cables led out from the drive plate and / or the drive motor pass through the circular opening.

12. The leg structure according to claim 11, characterized in that: The sealing sleeve comprises an annular portion, a first sealing portion and a second sealing portion, wherein: The annular portion constitutes the circular opening, and the first sealing portion and the second sealing portion are respectively connected to the two side end surfaces of the circular opening; When the sealing sleeve is sleeved in the electrical hole, the center line of the circular opening roughly coincides with the center line of the electrical hole, and one end surface of the electrical hole is pressed and sealed with the first sealing portion, and one end surface of the heat conducting frame facing the outer wall of the end plate is pressed and sealed with the second sealing portion.

13. The leg structure according to claim 12, characterized in that: The first sealing portion and the second sealing portion respectively extend outwardly by a specified distance in a radial direction of the annular portion, so that when the sealing sleeve is sleeved in the electrical hole, an annular gap exists between the annular portion and the heat conducting frame.

14. The leg structure according to claim 1, characterized in that: The first air outlet is an air inlet, the second air outlet is an air outlet, the fan is an axial flow fan, and the exhaust direction of the fan is toward the inner wall of the first air cover.

15. The leg structure according to claim 1, characterized in that: A filter screen is provided at the first air outlet and / or the second air outlet.

16. A robot comprising a leg structure, characterized in that: The leg structure is the leg structure according to any one of claims 1 to 15.

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