Robot

Abstract

The invention provides a robot which comprises a robot body, a first limb, a second limb, a driving assembly and a transmission assembly, the near end of the first limb is connected with the robot body, the far end of the first limb is hinged to the near end of the second limb, and the driving assembly is installed in the first limb and drives the second limb to rotate relative to the first limb through the transmission assembly; the robot comprises a fan installed in a first limb, the fan is located between a driving assembly and the far end of the first limb, the far end of the first limb is open to form a first air opening, and a second air opening communicated with the outside is formed in the area, close to the driving assembly, of the first limb. When the fan works, air is driven to flow between the first air opening and the second air opening, the flowing air passes through the driving assembly, and / or the flowing air at least flows on the periphery of the driving assembly. According to the technical scheme, heat dissipation is conducted on the driving assembly, so that the driving assembly has the long service life.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to robots. Background Art

[0002] The robot comprises a thigh, a calf, a driving component and a transmission component. The driving component is arranged in the thigh, and the driving component drives the calf to swing relative to the thigh through the transmission component.

[0003] However, the drive component generates heat during operation, which causes the temperature of the drive component to be high and reduces the service life of the drive component. Summary of the invention

[0004] An embodiment of the present invention provides a robot, which is intended to dissipate heat for a drive component so that the drive component has a longer service life.

[0005] An embodiment of the present invention provides a robot, the robot comprising a body, a first limb, a second limb, a driving assembly and a transmission assembly, wherein the proximal end of the first limb is connected to the body, the distal end of the first limb is hinged to the proximal end of the second limb, the driving assembly is installed in the first limb, and drives the second limb to rotate relative to the first limb through the transmission assembly;

[0006] In which, the robot includes a fan installed in the first limb, and the fan is located between the drive component and the distal end of the first limb. The distal end of the first limb is open to form a first air outlet, and the area of ​​the first limb close to the drive component is constructed with a second air outlet connected to the outside world. When the fan is working, it drives air to flow between the first air outlet and the second air outlet, and the flowing air at least passes through the drive component, and / or the flowing air flows at least around the periphery of the drive component.

[0007] Beneficial effects of the embodiments of the present invention:

[0008] In the embodiment of the present invention, when the fan is working, the air is driven to flow between the first air outlet and the second air outlet, and the flowing air passes through the driving component. In this way, the flowing air exchanges heat with the driving component to dissipate heat of the driving component, thereby increasing the service life of the driving component. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 is a three-dimensional schematic diagram of a robot provided by an embodiment of the present invention;

[0011] Figure 2 yes Figure 1 Diagram of the structure of the middle left leg;

[0012] Figure 3 yes Figure 2 A schematic diagram of the structure of the left leg with some of its structures hidden;

[0013] Figure 4 yes Figure 3 The enlarged view of point A in the middle;

[0014] Figure 5 yes Figure 3 Partial cross-section of the left leg;

[0015] Figure 6 yes Figure 5 The enlarged view of point B in the middle;

[0016] Figure 7 yes Figure 3 A schematic diagram of the structure of the middle left leg from another perspective, wherein H is the extension line of the second side panel, G is the rotation axis of the fan, and I is the extension line of the first side panel;

[0017] Figure 8 yes Figure 7 The enlarged view of the point C in the middle, wherein D is the center line of the second communication port, E is the center line of the first communication port, F is the angle between D and E, and G is the rotation axis of the fan;

[0018] Fig. 9 yes Figure 7 A schematic diagram of a portion of the left leg, which also shows a partition, wherein J is the rotation axis of the drive assembly and K is the rotation axis of the second limb;

[0019] Fig.10 yes Figure 7 A schematic structural diagram of the first shell and the support plate;

[0020] Fig.11 yes Fig.10 A structural schematic diagram of the first shell and the support plate from another perspective.

[0021] A cutaway view of the structure shown. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise specified, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the drawings; while "inside" and "outside" refer to the outline of the device.

[0023] Reference Figure 1 , the present application provides a robot 100. The robot 100 may be a humanoid robot 100 or a non-humanoid robot 100. For the non-humanoid robot 100, the robot 100 may be a robot dog. Without loss of generality, the humanoid robot 100 is taken as an example for illustration. As the name implies, the humanoid robot 100 has a human form, and the robot 100 includes a body 130, an arm 120 connected to the body 130, a leg 200 connected to the body 130, and a head 110 connected to the body 130.

[0024] Refer to Figures 2 to 4 The robot 100 provided in the present application includes a body 130, a first limb 300, a second limb 400, a driving assembly 500 and a transmission assembly 600. The proximal end of the first limb 300 is connected to the body 130, the distal end of the first limb 300 is hinged to the proximal end of the second limb 400, the driving assembly 500 is installed in the first limb 300, and drives the second limb 400 to rotate relative to the first limb 300 through the transmission assembly 600.

[0025] The first limb 300 may be at least a portion of the upper arm of the arm 120, and the second limb 400 may be at least a portion of the lower arm of the arm 120; or, the first limb 300 may be at least a portion of the thigh, and the second limb 400 may be at least a portion of the calf. In order to facilitate understanding of the present solution, without loss of generality, the first limb 300 is described herein as the thigh and the second limb 400 as the calf. In this way, under the drive of the drive assembly 500, the calf can rotate relative to the thigh.

[0026] Refer to Figures 5 to 8, the drive assembly 500 generates heat during operation, which makes the drive assembly 500 have a high temperature. In order to reduce the temperature of the drive assembly 500, the robot 100 further includes a fan 700 installed in the first limb 300. The fan 700 is located between the drive assembly 500 and the distal end of the first limb 300. The distal end of the first limb 300 is open to form a first air port 365. The area of ​​the first limb 300 close to the drive assembly 500 is configured with a second air port 341 that is connected to the outside. When the fan 700 is working, it drives air to flow between the first air port 365 and the second air port 341. The flowing air at least passes through the drive assembly 500, that is, at least passes through the inside of the drive assembly 500; and / or, the flowing air at least flows around the periphery of the drive assembly 500. In this way, the flowing air exchanges heat with the drive assembly 500 to dissipate heat from the drive assembly 500, thereby making the drive assembly 500 have a longer service life.

[0027] It is worth mentioning that, for the first air outlet 365, the first air outlet 365 is located at the far end of the first limb, which makes it difficult for dust to enter the first air outlet 365 when the fan 700 is in a non-working state, which is beneficial to reduce dust adhesion to the drive component 500, thereby making the drive component 500 have a longer service life.

[0028] As for the second air vent 341, since the second air vent 341 is arranged close to the driving assembly 500, taking the second air vent 341 as an air inlet as an example, the air entering from the second air vent 341 can quickly contact the driving assembly 500, and the air with a lower temperature exchanges heat with the driving assembly 500, thereby improving the heat dissipation effect of the driving assembly 500. Taking the second air vent 341 as an air outlet as an example, after the air exchanges heat with the driving assembly 500, the air with a higher temperature can be discharged from the second air vent 341 more quickly, reducing the time that the air with a higher temperature stays in the first limb 300, so as to make room for the air with a lower temperature, which is conducive to improving the heat dissipation effect of the driving assembly 500.

[0029] In one embodiment, the first limb 300 includes a first shell 310, the first shell 310 is configured with a first side plate 340, a second air outlet 341 is formed on the first side plate 340, a plurality of the second air outlets 341 are provided, and in the direction of one second air outlet 341, the driving component 500 is exposed at a portion of the second air outlets 341. That is, the driving component 500 may be exposed at one second air outlet 341, may be exposed at a plurality of second air outlets 341, or may be exposed at all second air outlets 341. In this way, the airflow path between the driving component 500 and the second air outlet 341 in which the driving component 500 is exposed in the direction of one second air outlet 341 is shorter, which is beneficial to improving the heat dissipation effect of the driving component 500.

[0030] However, the present design is not limited thereto. In some other embodiments, the second air outlet 341 and the driving assembly 500 are staggered on the rotation axis of the driving assembly 500 .

[0031] Refer to Fig.10 and 11 In one embodiment, the first housing 310 is constructed with a first bottom plate 320, a second bottom plate 330 and a second side plate 350, the first bottom plate 320 is constructed with a avoidance opening 321, the second bottom plate 330 is arranged opposite to the avoidance opening 321, the first side plate 340 and the second side plate 350 are arranged opposite to each other and connected between the first bottom plate 320 and the second bottom plate 330, and the driving assembly 500 is installed on the second bottom plate 330 via the avoidance opening 321. However, the present design is not limited to this, in some other embodiments, the structural form of the first housing 310 can also be other, as long as it has the avoidance opening 321, the first air outlet 365 and the second air outlet 341, and the specific structural form of the first housing 310 is not limited here.

[0032] In one embodiment, the first housing 310 is configured with a support plate 361 connected to the second bottom plate 330. The support plate 361 is conducive to enhancing the structural strength of the second bottom plate 330. The support plate 361 is arranged in a ring shape, the driving assembly 500 is located on the inner side of the support plate 361, and is spaced from the support plate 361 to form an air duct 800, the fan 700 is located on the outer side of the support plate 361, and the support plate 361 is configured with a first communication port 362 and a second communication port 363, the first communication port 362 is close to the fan 700, and the second communication port 363 is close to the second air port 341. When the fan 700 is working, it drives air to flow between the first air port 365, the first communication port 362, the air duct 800, the second communication port 363 and the second air port 341.

[0033] In this way, the support plate 361 not only enhances the structural strength of the second bottom plate 330, but also separates the air duct 800 from the drive assembly 500 to restrict the air flow area. The air duct 800 can make the air flow more concentratedly on the outer surface of the drive assembly 500, which is conducive to improving the heat exchange effect between the air and the drive assembly 500, and is conducive to reducing the temperature of the drive assembly 500. It is worth mentioning that the first connecting port 362 is close to the fan 700, and the second connecting port 363 is close to the second air port 341, which is conducive to making the path of the airflow flowing in the first limb 300 shorter, so that the drive assembly 500 can continue to exchange heat with the air at a lower temperature.

[0034] It can be understood that the air duct 800 formed between the drive assembly 500 and the support plate 361 is arranged in an annular shape. Without loss of generality, for the air duct 800, the first connecting port 362 is used as an example for introduction. The airflow entering the air duct 800 from the first connecting port 362 has two flow paths, both of which flow around the rotation axis of the drive assembly 500 and are finally discharged from the second connecting port 363 outside the air duct 800. The two paths include a first path and a second path. In one embodiment, the second connecting port 363 is provided with a plurality of, and the angle between the center line of the first connecting port 362 and the center line of at least part of the second connecting ports 363 in the plurality of second connecting ports 363 is an acute angle. In this way, the two paths must have one short and one long. Here, taking the second path as an example where the distance is greater than the distance of the first path, most airflows will choose to flow in the first path with lower energy consumption. In this way, the robot 100 can use a fan 700 with lower power to dissipate heat for the drive assembly 500.

[0035] It is worth mentioning that the rotation axis of the drive assembly 500 is as follows: Fig. 9 As shown in J in FIG. 1 , the center line of the first communication port 362 is as shown in FIG. Figure 8 As shown in E in FIG. 1 , the center line of a second communication port 363 is as shown in FIG. Figure 8 As shown in D in FIG. 1 , the angle between the center line of the second communication port 363 and the center line of the first communication port 362 is as follows: Figure 8 As shown in F.

[0036] In addition, the opening area of ​​the first connecting port 362 is larger than the opening area of ​​the second connecting port 363. For the air duct 800, the first connecting port 362 is used as an example for introduction as an air inlet. According to the continuity equation of fluid mechanics, in the case of the flow of an incompressible fluid (such as air, which can be approximately regarded as incompressible at a lower speed), the opening area of ​​the first connecting port 362 is larger than the opening area of ​​the second connecting port 363, which reduces the cross-sectional area of ​​the first path. In order to maintain the same mass flow rate, the flow rate must be increased accordingly. Therefore, this makes the airflow of the first path have a higher flow rate, which is conducive to improving the heat dissipation effect of the air and the drive component 500.

[0037] In one embodiment, the center line of the first connecting port 362 intersects with the rotation axis of the fan 700. Since the angle between the center line of the first connecting port 362 and the center line of the second connecting port 363 is an acute angle, the airflow guided by the fan 700 has a velocity component along the extension direction of the air duct 800, which is beneficial for the airflow to reduce the wind resistance entering the air duct 800. For the air duct 800, the first connecting port 362 is used as an air inlet as an example for introduction. That is, it is beneficial to reduce the flow resistance of the airflow entering the air duct 800 from the first connecting port 362, and reduce the situation where the airflow directly hits the drive component 500 and reduces the airflow velocity. For the air duct 800, the first connecting port 362 is used as an outlet as an example for introduction. The airflow entering the first path from the second connecting port 363 can flow out from the first connecting port 362 more quickly.

[0038] It is worth mentioning that the rotation axis of the fan 700 is as follows: Figure 7 and Figure 8 As shown in G in .

[0039] In some other embodiments, the center line of the first communication port 362 is consistent with the rotation axis of the fan 700 .

[0040] In addition, in one embodiment, the rotation axis of the fan 700 intersects with the extension line of the second side plate 350, and the extension line of the first side plate 340 intersects with the extension line of the second side plate 350. In this way, the first air port 365 is smaller, which is conducive to increasing the air flow rate through the first air port 365 to accelerate the heat dissipation efficiency of the drive assembly 500. In addition, the first side plate 340 is close to the fan 700, which is conducive to reducing the gap between the fan 700 and the first side plate 340, reducing the air flow from the gap to the outside of the first limb 300, so that the air duct 800 maintains a large air volume, which is conducive to improving the heat dissipation efficiency of the drive assembly 500.

[0041] It is worth mentioning that the extension line of the first side panel is Figure 7 As shown in I in FIG. 1 , the extension line of the second side panel is as shown in FIG. Figure 7 As shown in H.

[0042] In some other embodiments, the rotation axis of the fan 700 is arranged in parallel with the rotation axis of the second side plate 350 , and the extension line of the first side plate 340 is arranged in parallel with the extension line of the second side plate 350 .

[0043] In one embodiment, the extension line of the first side plate 340 is parallel to the rotation axis of the fan 700. In this way, the airflow velocity between the first communication port 362 and the fan 700 is consistent with the extension direction of the extension line of the first side plate 340, reducing the flow velocity loss caused by the airflow passing through the first side plate 340, so that the airflow maintains a higher flow velocity, which is beneficial to improve the heat dissipation effect of the heat dissipation component.

[0044] In some other embodiments, an extension line of the first side plate 340 intersects with the rotation axis of the fan 700 .

[0045] In one embodiment, the first side plate 340 is inclined relative to the support plate 361 and connected to the outer peripheral surface of the support plate 361. In this way, it is beneficial to reduce the space occupied by the first limb 300 and to miniaturize the first limb 300. A sealing rib 366 is configured between the first side plate 340 and the support plate 361, the first communication port 362 and the fan 700 are located on the outside of the sealing rib 366, and the second communication port 363 and the second air port 341 are located on the inside of the sealing rib 366.

[0046] Without loss of generality, for the air duct 800, the first connecting port 362 is used as an example for introduction. The sealing rib 366 can reduce the situation where the airflow guided by the fan 700 flows out from the second air port 341 without entering the air duct 800 through the first connecting port 362, that is, reduce the airflow that does not participate in the heat exchange with the drive component 500. In addition, the sealing rib 366 can also reduce the situation where the high-temperature airflow flowing out of the second connecting port 363 does not flow out from the second air port 341 but directly flows back to the first connecting port 362. It can be understood that the provision of the sealing rib 366 makes the flow direction of more airflows controllable, that is, most of the airflow can flow through the first air port 365, the first connecting port 362, the air duct 800, the second connecting port 363 and the second air port 341 in sequence.

[0047] For the air duct 800, the first connecting port 362 is used as an example for introduction. The sealing rib 366 can reduce the situation that the airflow guided by the fan 700 flows out from the first air port 365 without entering the air duct 800 through the second connecting port 363, that is, reduce the airflow that does not participate in the heat exchange with the drive component 500. In addition, the sealing rib 366 can also reduce the situation that the high-temperature airflow flowing out of the first connecting port 362 does not flow out from the first air port 365 and directly flows back to the second connecting port 363. It can be understood that the provision of the sealing rib 366 makes the flow direction of more airflow controllable, that is, most of the airflow can flow through the second air port 341, the second connecting port 363, the air duct 800, the first connecting port 362 and the first air port 365 in sequence.

[0048] In one embodiment, the transmission assembly 600 includes a crank 610 and a connecting rod 620, wherein the crank 610 is connected to the output flange 510 of the driving assembly 500, the proximal end of the connecting rod 620 is hinged to the crank 610 and offset relative to the rotation axis of the driving assembly 500, and the distal end of the connecting rod 620 is hinged to the proximal end of the second limb 400 and offset relative to the rotation axis of the second limb 400. In this way, the driving assembly 500 drives the first limb 300 to rotate relative to the second limb 400 through the crank 610 and the connecting rod 620.

[0049] It is worth mentioning that the rotation axis of the drive assembly 500 is as follows: Fig. 9 As shown in J in FIG. 1 , the rotation axis of the second limb 400 is as shown in FIG. Fig. 9 As shown in K.

[0050] However, the present design is not limited to this, in some other embodiments, the transmission mechanism includes a gear connected to the output end of the driving assembly 500, and a belt connected to the gear and the rotating shaft of the second limb 400. In this way, the driving assembly 500 drives the belt to move by driving the gear to rotate, thereby causing the second limb 400 to rotate relative to the first limb 300.

[0051] Refer to Fig. 9 In one embodiment, the first limb 300 includes a partition 364 and a second shell 370, the partition 364 partially surrounds the support plate 361, the fan 700 is mounted on the partition 364, and the connecting rod 620 is located on the side of the partition 364 away from the fan 700. In this way, the partition 364 can reduce the occurrence of the connecting rod 620 directly hitting the fan 700, so as to provide protection for the fan 700.

[0052] In addition, in one embodiment, the second housing 370 is mounted on the first housing 310 and covers the crank 610 and the connecting rod 620. In this way, foreign matter can be reduced from entering between the crank 610 and the connecting rod 620, so that the crank 610 and the connecting rod 620 can operate more smoothly.

[0053] It is worth mentioning that, in one embodiment, the partition plate 364 , the first side plate 340 , and the second side plate 350 jointly surround a first air outlet 365 .

[0054] In one embodiment, the first limb 300 includes a cover plate 380 covering the avoidance opening 321, and a plurality of through holes 381 are provided on the cover plate 380. This is beneficial to further improve the annular airflow exchange between the air duct 800 and the outside, and to improve the heat dissipation effect of the driving assembly 500.

[0055] In some other embodiments, a gap is reserved between the cover plate 380 and the support plate 361 to form a third air outlet, and the fan 700 further drives air to flow between the third air outlet, the air duct 800 and the second air outlet 341 when working. In this way, it is beneficial to further improve the airflow exchange between the air duct 800 and the outside annular shape, and to improve the heat dissipation effect of the drive assembly 500.

[0056] The embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A robot, characterized in that: The robot comprises a body, a first limb, a second limb, a driving assembly and a transmission assembly, wherein the proximal end of the first limb is connected to the body, the distal end of the first limb is hinged to the proximal end of the second limb, the driving assembly is installed in the first limb, and drives the second limb to rotate relative to the first limb through the transmission assembly; In which, the robot includes a fan installed in the first limb, and the fan is located between the drive component and the distal end of the first limb. The distal end of the first limb is open to form a first air outlet, and the area of ​​the first limb close to the drive component is constructed with a second air outlet connected to the outside world. When the fan is working, it drives air to flow between the first air outlet and the second air outlet, and the flowing air at least passes through the drive component, and / or the flowing air flows at least around the periphery of the drive component.

2. The robot according to claim 1, characterized in that: The first limb includes a first shell, the first shell is constructed with a first side panel, the second air outlet is formed on the first side panel, a plurality of the second air outlets are provided, and in the direction of one of the second air outlets, the driving assembly is exposed at a portion of the second air outlet.

3. The robot according to claim 2, characterized in that: The first shell is constructed with a first bottom plate, a second bottom plate and a second side plate, the first bottom plate is constructed with a avoidance opening, the second bottom plate is arranged opposite to the avoidance opening, the first side plate and the second side plate are arranged opposite to each other and connected between the first bottom plate and the second bottom plate, and the driving assembly is installed on the second bottom plate via the avoidance opening.

4. The robot according to claim 3, characterized in that: The first shell is constructed with a support plate connected to the second base plate, the support plate is arranged in a ring shape, the drive assembly is located on the inner side of the support plate and is spaced from the support plate to form an air duct, the fan is located on the outer side of the support plate, the support plate is constructed with a first connecting port and a second connecting port, the first connecting port is close to the fan, and the second connecting port is close to the second air outlet, and when the fan is working, it drives air to flow between the first air outlet, the first connecting port, the air duct, the second connecting port and the second air outlet.

5. The robot according to claim 4, characterized in that: There are multiple second communicating ports, the angle between the center line of the first communicating port and the center line of at least some of the multiple second communicating ports is an acute angle, and the opening area of ​​the first communicating port is larger than the opening area of ​​the second communicating port.

6. The robot according to claim 4, characterized in that: The center line of the first connecting port intersects with the rotation axis of the fan, the rotation axis of the fan intersects with the extension line of the second side plate, the first side plate extends toward the fan, and the extension line of the first side plate intersects with the extension line of the second side plate.

7. The robot according to claim 6, characterized in that: An extension line of the first side plate is parallel to a rotation axis of the fan.

8. The robot according to claim 4, characterized in that: The first side plate is inclined relative to the support plate and connected to the outer peripheral surface of the support plate. A sealing rib is constructed between the first side plate and the support plate. The first connecting port and the fan are located on the outside of the sealing rib, and the second connecting port and the second air outlet are located on the inside of the sealing rib.

9. The robot according to claim 4, characterized in that: The transmission assembly includes a crank and a connecting rod, the crank is connected to the output flange of the drive assembly, the proximal end of the connecting rod is hinged to the crank and offset relative to the rotation axis of the drive assembly, the distal end of the connecting rod is hinged to the proximal end of the second limb and offset relative to the rotation axis of the second limb, the first limb includes a partition and a second shell, the partition partially surrounds the support plate, the fan is mounted on the partition, the connecting rod is located on the side of the partition away from the fan, and the second shell is mounted on the first shell and covers the crank and the connecting rod.

10. The robot according to claim 4, characterized in that: The first limb includes a cover plate covered on the avoidance, and a plurality of through holes are arranged on the cover plate, or a gap is reserved between the cover plate and the support plate to form a third air outlet. When the fan is working, it further drives the air to flow between the third air outlet, the air duct and the second air outlet.

11. The robot according to claim 1, characterized in that: The first limb serves as at least a part of a thigh of the robot, and the second limb serves as at least a part of a calf of the robot.

12. The robot according to claim 11, characterized in that: The robot is a humanoid robot.

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